An experimental robot cell is being used to investigate the enabling technology for a masonry tasking robot . A C.-\D/CAM facility has been devised by which wall designs are translated into the robot's 'theoretical task' . However, this can not be directly implemented with out real -time adjustments derived from sensors. A further complication is that the fbrnn of a move influences the dynamic response of the robot structure . Rule-based intelligence has been applied to the solution of both these problems.

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