On-Site Robotic Construction Assistance for Assembly Using A-Priori Knowledge and Human-Robot Collaboration

The programming of industrial robots is commonly static and optimized for a clearly defined surrounding. Service robotics on the other hand focuses on working in dynamic and completely unknown environments. Within construction, robotics needs to be able to adapt within dynamic and unstructured environments. However a lot of information is already available from the planning phase. Currently this information is often not used directly or efficiently on the construction site. Using force torque sensors as well as human-robot collaboration in the form of haptic programming we want to enable intuitive on-site robot programming, handle material tolerances of components and detect differences between design and reality to achieve satisfactory quality in assembly tasks.