Abstract
This paper discusses the integration of automatic robot path planning into the computational design environment. A path planning software interface is presented that allows to support fabrication-aware design of robotically assembled structures with discrete elements. Using the large-scale Robotic Fabrication Laboratory (RFL) as test-bed, the software interface is validated through three experiments, in which building members need to be guided around obstacles and which are fabricated using two cooperative robotic arms. Specific focus of this paper is the investigation of strategies to narrow the path search by adjusting design and path planning parameters in order to achieve a calculation time that is suitable for design applications. A close integration of automatic path planning and design is presented, which does not only enable the negotiation between design intention and fabrication feasibility, but allows for an understanding of the constraints present in robotically fabricated spatial structures. Thus, this research contributes to expand these structures’ design and fabrication space.
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Notes
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Flexible parts such as cables and hosepipes are not included in the model.
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Adjustments of the design do not take structural considers into account.
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Acknowledgements
This research presented here is part of and supported by the research programme NCCR, funded by the Swiss National Science Fundation. Special thanks goes to Ammar Mirjan for his advice during the early stages of the PhD and for the people that contributed to the realization of the first experiment: Gergana Rusenova, Petrus Aejmelaeus-Lindström, Marco Palma and Martin Rusenova. Also thanks for the people that were part of the second experiment: Andreas Thoma, Arash Adel and Matthias Helmreich. Additional thanks goes to Marc Freese for collaborating as consultant of robotic simulation and for the integration of OMPL in V-REP and to Philippe Fleischmann and Michael Lyrenmann for their support in the RFL.
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Gandia, A., Parascho, S., Rust, R., Casas, G., Gramazio, F., Kohler, M. (2019). Towards Automatic Path Planning for Robotically Assembled Spatial Structures. In: Willmann, J., Block, P., Hutter, M., Byrne, K., Schork, T. (eds) Robotic Fabrication in Architecture, Art and Design 2018. ROBARCH 2018. Springer, Cham. https://doi.org/10.1007/978-3-319-92294-2_5
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