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This paper presents a new way of developing machine software for the automation industry. This example focuses on a 3D printer intended for printing cement mixtures. The mechanical and electrical construction is shown for clarification. New mappTechnology by a company called B&R is explained, highlighting its benefits t for software developers. Both the advantages and disadvantages are discussed at the end.

This paper presents a new platform for the development of an open control system for a robotic arm designed for the 3D printing of buildings. This platform uses a very efficient system of automatic code generation which greatly simplifies the process of robotic arm synthesis and analysis while allowing the deployment of custom control algorithms. An experimental workplace, with a reduced and simplified robotic arm, has been developed for the purpose of testing the platform. The mechanical and electrical construction of this experimental workplace is explained. The control system platform is also introduced and data from the test results are included. Both the advantages and disadvantages are discussed at the end.

New innovative approaches for building construction are being developed around the world. One of these is printing cement mixtures for which various machines are now being developed. This paper deals with the design of an experimental robotic arm for research into cement mixture printing. A generative design approach was used and discussed in its development. The results describe the solutions obtained using the generative design process together with the approach used to control the drives of the robotic arm. Finally, the benefits of using generative design in solving such a large and complex task are discussed based on our experience from this particular project.

Three-dimensional concrete printing technology is currently a very topical and developing subject. There is a large number of applications worldwide where this technology can be used. In connection with this technology, the development of custom industrial robotic systems and their control is essential. Conventional closed-loop control system platforms do not provide sufficiently flexible solutions. This paper presents a control system for a unique printing robot that, thanks to its openness and unified platform, will enable simple and fast analysis and testing of key aspects in terms of control and guidance of the printing robot for additive manufacturing applications in the construction industry. The aim of this paper is to introduce the concept of an open PLC-based control system and to demonstrate its usefulness in the task of designing and implementing model-based control. All steps, from the analysis of the printing robot itself and identification of inertial parameters to the actual design and implementation of the control, can be executed in a unified Matlab/Simulink environment using various add-ons and toolboxes thanks to the open control system platform. This solution brings significant savings in terms of programming and prototyping time. The open control system was used to control an experimental model of a printing robot, serving as a test bed for the final version of the printing robot, and the results obtained were evaluated.