| id |
acadia23_v3_189 |
| authors |
Leung, Pok Yin Victor; Huang, Yijiang |
| year |
2023 |
| title |
Task and Motion Planning for Robotic Assembly |
| source |
ACADIA 2023: Habits of the Anthropocene: Scarcity and Abundance in a Post-Material Economy [Volume 3: Proceedings of the 43rd Annual Conference for the Association for Computer Aided Design in Architecture (ACADIA) ISBN 979-8-9891764-1-0]. Denver. 26-28 October 2023. edited by A. Crawford, N. Diniz, R. Beckett, J. Vanucchi, M. Swackhamer 24-32. |
| summary |
When programming robotic assembly processes, it is often necessary to create a sequential list of actions. Some actions are robotic motions (requiring motion trajectory), and some are for controlling external equipment, such as grippers and fastening tools. The act of planning these actions and motion trajectories is called Task Planning and Motion Planning. Existing literature in robotics explored many different planning algorithms for planning a single trajectory to planning a complete sequence of tasks where continuity is maintained [Garrett et al, 2021]. Many application literature focused on the TAMP for service robots, medical robots, and self-driving cars, while there are few examples for architectural applications. For digital fabrication and automated construction, the planning method has to be adapted to the needs of architectural assemblies and the scale of construction [Leung et al, 2021]. Some of the unique challenges are the highly bespoke workpiece and assembly geometry, the large workpiece (e.g., long beams), and a dense collision environment. This three-day hybrid workshop addressed the needs of the architectural robotics community to use industrial robotic arms to assemble highly bespoke objects. The objects do not have any repetitive parts or assembly targets. The workshop leaders shared their experiences using industrial robots to construct large-scale timber structures. One of the most useful techniques is the recently published “Flowchart Planning Method,” where task sequence is planned using a flowchart, and motion trajectories are planned in a second pass [Huang et al, 2021]. |
| series |
ACADIA |
| type |
workshop |
| full text |
 file.pdf (2,308,435 bytes) |
| references |
Content-type: text/plain
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| last changed |
2024/04/17 14:00 |
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