Automatic Robot Path Planning for a GRC Spraying Cell

Balaguer, Carlos; Pastor, José Manuel; Garcia, Angel Juan Sanchez; Peñín, Luis F.; Rodríguez, Francisco; Barrienteos, A.; Aracil, Adolfo; Florez, Johana; Esteban, N.; Comas, Joaquim; Marquez, E.

doi:10.1016/b978-0-444-82044-0.50080-1

Cited by 5 publications

(7 citation statements)

References 4 publications

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“…9). The path planning algorithm works in first place with a spraying gun path only and then transforms it to a robot path [7]. From the mold data (Fig.…”

Section: Robot Path Planning Robot Path Generationmentioning

confidence: 99%

Robotized Cell of Prefabricated Panels

Penades¹,

Moliner²,

Florez³

1999

Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction

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A robotized manufacturing cell of prefab -icated GRC (Glass Reinforced Cement) panels for construction industry has been deve oped by construction company Dragados , S.A. The main contribution of the developed s' stem is the automatic programming and control of the whole plant. As input serves the architect 's 3D-drawing of the building facade done on a CAD system. From the CAD de!.ign, the optimum facade to pan-Fig. 1 Typical facade using GRC panels els.partition is c btained. In order to manufacture each panel , au omatic task and path planning are performed or the equipment present in the manufacturing cell: spraying robot, PLCs, control computt r, etc. Construction pt ocesses done off-site are more suitable to be-obotized , since the work takes place in a strut tured environment. A common off site process is the manufacturing of prefabricated par.els (Fig.l) which are later assembled on-site. In last years one important material used L L this kind of industry has been the Glass Reinl)reed Cement (GRC). The GRC material is based on mixing cement with small cut glass fiber strips, achievinenough flex-C, strength while maintaining light weight. This allows to manufacture large panels (6 x 3m) of any 3D geometry with the advantage of easy transportal ion and easy assembly on site.

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“…9). The path planning algorithm works in first place with a spraying gun path only and then transforms it to a robot path [7]. From the mold data (Fig.…”

Section: Robot Path Planning Robot Path Generationmentioning

confidence: 99%

Robotized Cell of Prefabricated Panels

Penades¹,

Moliner²,

Florez³

1999

Proceedings of the 16th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction

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“…It uses the information generated by the CAD environment. This process is described in detail in [2]. The last module is the on-line one, which controls the whole lay-out, including the robot and peripheral equipment.…”

Section: Description Of the Systemmentioning

confidence: 99%

“…However, the new trends in construction automation lead more and more to robotized solutions for the type described in this paper. The advances in the development have been regularly presented in ISARC symposia [1], [2].…”

Section: Introductionmentioning

confidence: 99%

Evaluation and Comparative Study of Robotics vs Manual Spraying of GRC Panels

Balaguer¹,

Pastor²,

Garcia³

et al. 1995

Proceedings of the 12th International Symposium on Automation and Robotics in Construction (ISARC)

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The paper presents, in economic, quality and technical terms, several aspects of the robotics manufacturing of GRC panels, based on actual measurements of performance rates, and real estimates of all cost items. The comparison of robotics versus manual performance is also presented. The system has been finished, and is now producing in a Dragados y Construcciones factory near Madrid. This paper focuses on a detailed quality and technical evaluation of the robotized spraying of GRC panels, in comparison with the previous manual manufacturing.

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“…In contrast the real panels have a minimum of two layers, vertical planes on edges, sometimes hollows for windows, etc. The path planning algorithm works initially with a spraying gun path only and then transforms it to a robot path [11]. From the mold data ( Fig.…”

Section: Robot Path Planningmentioning

confidence: 99%

Robotized spraying of prefabricated panels

Peñín

Balaguer

Pastor

et al. 1998

IEEE Robot. Automat. Mag.

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A robotized manufacturing cell of pre-fabricated GRC (Glass Reinforced Cement) panels for construction industry has been developed by DISAM for the Spanish construction company Dragados, S.A.The main contribution of the developed system is the automatic program~ ming and control of the whole plan. The architect's 3D-drawing of the building facade done on a CAD system serves as input. From the CAD design, the optimum facade to panels partition is obtained. In order to manufacture each panel, automatic task and path planning are performed for the equipment present in the manufacturing cell: spraying robot, PLCs, control computer, etc.

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Automatic Robot Path Planning for a GRC Spraying Cell

Cited by 5 publications

References 4 publications

Robotized Cell of Prefabricated Panels

Robotized Cell of Prefabricated Panels

Evaluation and Comparative Study of Robotics vs Manual Spraying of GRC Panels

Robotized spraying of prefabricated panels

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