End-Effector Pose Correction for Versatile Large-Scale Multi-Robotic Systems

Stadelmann, Lukas; Sandy, Timothy; Thoma, Andreas; Buchli, Jonas

doi:10.1109/lra.2019.2891499

Cited by 28 publications

(12 citation statements)

References 17 publications

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“…Even though the method developed in this project was used in the context of a digital fabrication project, Jammed Architectural Structures [13] (Figure 8), the method is to be further investigated with a sensitivity analysis based on the precision of multiple devices. The goal is to introduce secondary devices, such as an iGPS system [14], to obtain ground truth for the validation of both the proposed localization method and the total station accuracy. The results of these experiments will be integrated into the present research.…”

Section: Discussion and Future Outlookmentioning

confidence: 99%

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Ercan¹,

Meier²,

Gramazio³

et al. 2019

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

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The localization of a robot is a crucial part of any task that involves the mobile manipulation of objects. The precise repositioning of a mobile robot within the workspace is particularly important for on-site construction in situations where the operating area is much larger than the reach of the robot arm. This research presents a localization method utilizing a generic surveying and measurement devicea robotic total station. 1 The localization of the mobile robot in reference to the total station is investigated through the positioning of a reflector prism, mounted on the robot's end-effector, at different known locations in robot's coordinate frame. Through this localization method, the opportunity to remove the reliance on fixed reference points is tested in a largescale outdoor experiment, which would alleviate the need for a full enclosure around the mobile robot to help constrain its pose.

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Section: Discussion and Future Outlookmentioning

confidence: 99%

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Ercan¹,

Meier²,

Gramazio³

et al. 2019

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

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“…Laser multilateration is a common concept for determining the unknown position of a retroreflector target by measuring a set of distances between the target and known base stations. It is commonly used in different coordinate measuring systems (Takatsuji et al, 1998;Lin and Zhang, 2003) which can achieve uncertainties below 0.5 µm in a measuring volume of 1 m (Wendt et al, 2012). Results are achieved by minimizing the sum of squared residuals w ij :…”

Section: Six-dof Multilaterationmentioning

confidence: 99%

“…This tracking system is used for the online pose correction of an industrial robot and reduces the pose error of the observed robot to below 62 µm for the position and 210 µrad for the orientation. Norman et al (2013) and Stadelmann et al (2019) use indoor GPS (iGPS) to implement external pose feedback for different industrial robot experiments. Depending on the environmental conditions and measurement setup, pose errors of the described setup using iGPS can be below 250 µm.…”

Section: Introductionmentioning

confidence: 99%

Six-degree-of-freedom pose estimation with µm/µrad accuracy based on laser multilateration

Nitsche

Franke

Haverkamp

et al. 2021

J. Sens. Sens. Syst.

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Abstract. The estimation of the six-degree-of-freedom position and orientation of an end effector is of high interest in industrial robotics. High precision and data rates are important requirements when choosing an adequate measurement system. In this work, a six-degree-of-freedom pose estimation setup based on laser multilateration is described together with the measurement principle and self-calibration strategies used in this setup. In an experimental setup, data rates of 200 Hz are achieved. During movement, deviations from a reference coordinate measuring machine of 20 µm are observed. During standstill, the deviations are reduced to 5 µm.

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“…Traditionally they were handcrafted and manually assembled by the builder on site in an iterative fitting process. While nowadays the Computer Numerical Control (CNC) machining of the individual parts is sufficiently accurate, robotic assembly on large scale structures can still only achieve low positioning accuracy, especially in a nonrepetitive placement process (Stadelmann et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Proceedings of the 27th Conference on Computer Aided Architectural Design Research in Asia (CAADRIA) [Volume 2]

2022

CAADRIA Proceedings

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This paper discusses the design and development of scale masonry structures using robot arms, computer vision hardware and bespoke computational workflows. In parallel to the development of full-scale masonry solutions using a Cable Driven Parallel Robot (CDPR), a faster method for testing large numbers of brick elements is needed to verify buildability, mitigate collisions, and think differently about recycled materials during real-world construction activities. Additionally, by incorporating scanning and analysis technology, materials can be digitized, and their attributes translated into variables for placement within an intended structure.

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End-Effector Pose Correction for Versatile Large-Scale Multi-Robotic Systems

Cited by 28 publications

References 17 publications

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Automated Localization of a Mobile Construction Robot with an External Measurement Device

Six-degree-of-freedom pose estimation with µm/µrad accuracy based on laser multilateration

Proceedings of the 27th Conference on Computer Aided Architectural Design Research in Asia (CAADRIA) [Volume 2]

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