The Investigation Of Trajectory Generation Of A Curved Wall Brick Laying Using 5 Dof Mobile Robot

Ahmed Salem, Mohammed (2017) The Investigation Of Trajectory Generation Of A Curved Wall Brick Laying Using 5 Dof Mobile Robot. Project Report. UTeM, Melaka. (Submitted)

Text The Investigation Of Trajectory Generation Of A Curved Wall Brick Laying Using 5 Dof Mobile Robot - Mohammed Ahmed Salem - 24 Pages.pdf - Submitted Version Download (519kB)

Abstract

The masonry brick layer is related strongly with human health risks such as dermatitis, struck by falling object or musculoskeletal disorders. According to Map of the Construction Industry Amsterdam, Netherlands, 38% of bricklayers reported musculoskeletal disorders. In this project the main problem is on how to enable the user to describe the initial conditions of the desired curved wall brick layering (The coordinate of the first, middle and the last brick). To generate trajectory to obtain the profile of the curved wall brick positioning using 5 degree of freedom manipulator (KUKA youBot). The objectives of this project are, firstly to analyze the problem of curved wall brick laying using a five degree of freedom manipulator (KUKA YouBot), secondly is to design a trajectory profile relative to the curved wall brick laying and lastly to evaluate the accuracy of the brick positioning using KUKA YouBot utilizing parabolic polynomial equation. The parabolic polynomial equation is used, due to its simplicity, smooth motion and high accuracy. To achieve the objectives, trajectory is generated by using the parabolic polynomial equation. In order to validate the curved brick laying process, a simulation using VREP simulator is used to get the Cartesian axis (x, y, z) of the brick positioning. The parabolic equation is written in term of a code in MATLAB software to prove it is ability to produce any type of desired curve. The curves obtained from the parabolic equation are compared in term of the equation used, the arc length of the curve and the estimated bricks number required to complete the brick laying process. The result of the project is the curved wall brick laying obtained from the V-REP simulator with minimum accuracy of 77.53571% and Root Mean Square error (RMSe) of 0.02190791. In conclusion, the trajectory profile relative to the curved wall brick laying is designed with the use of the parabolic polynomial equation. The future work of this project is to increase the curve layers (starting from the second layer) as this project focuses on how to build any desired curve for the first layer. Moreover, this project is done in the V-REP simulator, so testing the experiment in the real (lab or physical) environment is highly recommended, especially to analyze the accuracy of every constructed curved wall.

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