Current State of Automation and Robotics in Construction

Sundareswaran, Shankar; Arditi, David

doi:10.22260/isarc1988/0024

Cited by 6 publications

(2 citation statements)

References 4 publications

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“…Thus, computer software development is stressed, particularly in the areas of computerized data acquisition, as-built database and interface standards, measurement technology, and process control (Paulson 1985;Evans 1986;Ibbs 1986;Albus 1986;Kangari and Halpin 1988;Sundareswaran and Arditi 1988). Hardware applications have been proposed for the automation of sandblasting and concrete formwork cleaning (Skibniewski 1986) and cement block wall construction (Slocum and Schena 1988).…”

Section: Current Progressmentioning

confidence: 99%

Robotics in construction: implementation and economic evaluation

Moselhi¹,

Hason²

1989

Can. J. Civ. Eng.

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This paper presents a review of current worldwide efforts in automation and robotization for construction. Over a dozen countries are currently involved in such research efforts to overcome mainly declining productivity, increasing labor costs, hazards in the workplace, and scarcity of skilled labor. Research and development progress of Japanese contractors is emphasized, as they are aggressively introducing robots on site. A number of their leading contractors are visited, and applications of robotic equipment utilized on building construction sites in Japan are summarized. The Canadian construction industry, existing in a harsh climate and affected by shortages of skilled labor and high labor costs, needs to carefully consider construction robotics in order to meet its changing needs. The characteristics of the Canadian environment are presented and factors that have a direct bearing on the feasibility and implementation of robotics are emphasized. Different methods for the evaluation of the value of a construction robot are presented and applied to a numerical example. Comparisons are then made between the U.S. and Canada. It is believed that, given existing technology, economical constraints will either force or impede the implementation of robotics.Cet article traite des efforts dCployCs a l'tchelle mondiale dans le domaine de l'automatisation et de la robotisation de la construction. Plus d'une douzaine de pays participent prksentement a cette recherche qui vise principalement a solutionner les problkmes reliCs a la productivitC et a l'augmentation des coilts de la main-d'aeuvre, a Climiner les dangers sur les chantiers et a combler le manque de main-d'aeuvre qualifiCe. Une attention particulikre est accordCe aux progrks rCalisCs par les entrepreneurs japonais dans le domaine de la recherche et du dCveloppement de la robotique. Un certain nombre d'entre eux ont fait l'objet d'une visite et les applications de la robotique sur les chantiers de construction sont rCsumCes. L'industrie canadienne de la construction, aux prises avec des conditions climatiques rigoureuses, un manque de main-d'oeuvre qualifiCe et des codts de production ClevCs, doit considCrer strieusement la robotique comme solution pour faire face a des besoins en pleine Cvolution. Les caractCristiques de l'environnement canadien sont prCsentCes et les facteurs ayant un impact direct sur la faisabilitC et la mise en oeuvre de la robotique sont soulignks. Diverses mithodes d'Cvaluation de la valeur d'unrobot sont prCsentCes et appliquCes a un exemple numkrique. Des comparaisons sont ensuite effectuCes entre le Canada et les Etats-Unis.Compte tenu de la technologie existante, plusieurs sont d'avis que des contraintes Cconorniques vont soit entrainer ou empEcher la mise en oeuvre de la robotique.Mots ~1 6 s : industrie canadienne de la construction, robot pour la construction, automatisation, construction de bhtiments, productivitC, faisabilitt.Can. J. Civ. Eng. 16, 678-683 (1989)

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Section: Current Progressmentioning

confidence: 99%

Robotics in construction: implementation and economic evaluation

Moselhi¹,

Hason²

1989

Can. J. Civ. Eng.

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“…The semi-autonomous or automatic computer control is essential to improve the productivity and the effective utilization of expensive construction machines [1,2]. Many tasks on construction sites can then be performed even in hostile and/or unfavorable conditions, for example, in severe (cold or rainy) weather, or in hazardous, unhealthy, and even poisonous environmental conditions.…”

Section: Introductionmentioning

confidence: 99%

Planning for Automatic Excavator Operations

Koivo¹

1992

Proceedings of the International Symposium on Automation and Robotics in Construction (IAARC)

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The operations of an excavator can be automated by making a digital computer control its motion so that the system functions autonomously. In order to realize the automatic operations the nominal (desired) trajectory for the motion of the excavator must be preplanned and stored in the computer. This trajectory should specify the pose (the position and orientation) of the bucket as a function of time in a fixed (Cartesian) coordinate system. Since the pose of the bucket is determined by the configuration of the excavator, the planned trajectory should then be converted into the joint space in order to obtain the nominal trajectories for the joint variables corresponding to the Cartesian space trajectory. This conversion can be accomplished by solving the kinematic equations for the excavator in the backward direction.The kinematic equations relate the pose of the bucket to the joint variables of the excavator. They can conveniently be written if the local (moving) coordinate frames are first assigned to all links (joints) by following the Denavit-Hartenberg procedure which is a well-known method in robotics. Then after the structural (kinematic) parameters have been determined for the given excavator, the transformation matrices relating any two adjacent coordinate frames can be written. The recursive equations are then utilized to obtain the kinematic equations which relate the joint variable values to the bucket pose. These trigonometric equations can then be solved for the joint variables in terms of the given pose of the bucket. We will present these equations which represent the solution to the inverse kinematic problem for the excavators. These relations are then used to plan the motion of the excavator bucket. The problem of removing soil contained in a sector to a specified depth is then solved. The trajectory for the bucket is planned so that this task will be accomplished.

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