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https://open.uns.ac.rs/handle/123456789/6371
Title: | Design and fabrication with industrial robot as brick-laying tool and with custom script utilization | Authors: | Raković, Mirko Jovanović, Marko Borovac, Branislav Tepavčević, Bojan Nikolić, Milica Papovic M. |
Issue Date: | 1-Jan-2015 | Journal: | 23rd International Conference on Robotics in Alpe-Adria-Danube Region, IEEE RAAD 2014 - Conference Proceedings | Abstract: | © 2014 IEEE. This paper presents methodology and implementation of parametric architectural design of bricklaying walls fabricated by industrial robotic arm. As a design tool Grasshopper is used, a visual programming editor that runs within the Rhinoceros 3D CAD application. Grasshopper offers a range of objects for creating parametric models including bricklaying walls. However it lacks the ability of integration with fabrication tools. To overcome this problem, a custom C# script has been developed. As the fabrication tool, the ABB-IRB 140 robotic arm is used. Thus the C# script is written in such a way to obtain the RAPID code for controlling ABB industrial robots. The C# script enabled automated generation of RAPID code in accordance to the Grasshopper generated geometries of walls. The RAPID code is firstly tested in simulation environment, afterwards is used to control the robot to fabricate various types of walls. | URI: | https://open.uns.ac.rs/handle/123456789/6371 | ISBN: | 9781479967988 | DOI: | 10.1109/RAAD.2014.7002251 |
Appears in Collections: | FTN Publikacije/Publications |
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