CYBER-PHYSICAL, LARGE-SCALE MANIPULATION WITH HIGHLY RECONFIGURABLE AND MULTI-FUNCTIONAL CABLE ROBOTS FOR CONSTRUCTION IN EXISTING STRUCTURES
This research project aims at developing methods for reconfiguration of cable-driven parallel robots (short: cable robots). The overall goal is to enable cable robots as a large-scale and flexible manipulation and handling platform for On-Site construction. In this scenario, the cable robot is mounted on top of a building to e.g., transport material or handle objects. Conceivable is also a configuration, where the cable robot is used in situations with limited installation space like in existing structures. Hereby, the cable robot can for example be mounted between two existing buildings. To be able to realize applications like that, there are several open fields of research, from which one is the reconfiguration planning of cable robots which is to be exploited in this research project. Hereby, the cable robot acts as a highly modular and innovative robotic system, which is planned and designed virtually with efficient algorithms subjected to optimality conditions. These generic planning methods for the cable robot are based on online models of the construction site (Input from RP 8-2 and RP 26-1) as well as process requirements, that are defined by cooperative tasks in which autonomous systems work together. The cooperative tasks are derived from the RP’s (Input e.g., from RP 19-2), which are also part of the Co-Design group. Afterwards, the optimal design procedure is validated by employing experiments and the underlying parameters of the kinematic model are identified with learning-based model identification approaches to allow for online feedback for automatic calibration of the kinematic parameters of the robot.
Prof. Dr.-Ing. Alexander Verl
Institute for Control Engineering of Machine Tools and Manufacturing Units (ISW), University of Stuttgart