Application of 6-Dof Robot Motion Planning in Fabrication

Abstract

AbstractIn practical robotic construction work, such as laying bricks and painting walls, obstructing objects are encountered and motion planning needs to be done to prevent collisions. This paper first introduces the background and results of existing work on motion planning and describes two of the most mainstream methods, the potential field method, and the sampling-based method. How to use the probabilistic route approach for motion planning on a 6-axis robot is presented. An example of a real bricklaying job is presented to show how to obtain point clouds and increase the speed of computation by customizing collision and ignore calculations. Several methods of smoothing paths are presented and the paths are re-detected to ensure the validity of the paths. Finally, the flow of the whole work is presented and some possible directions for future work are suggested. The significance of this paper is to confirm that a relatively fast motion planning can be achieved by an improved algorithmic process in grasshopper.