In this research, we are interested to develop systems and computational tools that allows for the transportation of the robot to the workpiece for large scale manufacturing. This requires us to address the various challengers of setting up a robotic workcell in the field environment. Based on the intended task, we have developed techniques for automated workpiece localization, seam identification, seam tracking and redundant motion planning for this class of robot.
ROS Based Robot Workcell and Motion Planner
Workpiece Localization and Seam Tracking
Task Constrained Optimal Motion Planning
- A. G. Dharmawan, A. A. Vibhute, G. S. Soh, S. H. Foong, and K. Otto, “A Survey of Platform Designs for Portable Robotic Welding in Large Scale Structures”, IEEE 13th International Conference on Control, Automation, Robotics and Vision, Singapore, 2014.
- B. W. C. Sedore, A. G. Dharmawan, G. S. Soh, S. H. Foong and K. Otto, “Pose Accuracy of a Mobile Robotic System Mounted on Scaffold Structures”, 14th World Congress in Mechanism and Machine Science, Taipei, Taiwan, 2015.
- X. Chen, G. S. Soh, S. Foong and K. Otto, “Pose estimationof robotic end–effectors under low speed motion using EKF with inertial and SE(3) measurements”, IEEE International Conference on Advanced Intelligent Mechatronics, Busan, 2015.
- A. G. Dharmawan, B. W. C. Sedore, G. S. Soh, S. H. Foong and K. Otto, “Robot Base Placement and Kinematic Evaluation of 6R Serial Manipulators to Achieve Collision-Free Welding of Large Intersecting Cylindrical Pipes”, ASME International Design Engineering Technical Conference, Boston, USA, 2015.
- A. G. Dharmawan, S. H. Foong and G. S. Soh, “Simultaneous Optimal Robot Base Placement And Motion Planning Using Expanded Lagrangian Homotopy”, ASME Dynamic Systems and Control Conference, Minneapolis, USA, 2016.
- P. S. Meena, S. H. Foong, G. S. Soh and K. S. Yeo, “Automatic Optical & Laser-based Defect Detection and Classification in Brick Masonry Walls”, IEEE TENCON, Singapore, 2016.
- A. G. Dharmawan, B. W. C. Sedore, S. H. Foong and G. S. Soh, “An Agile Robotic System Mounted on Scaffold Structures for On-Site Construction Work”, Construction Robotics, 1:1-13, 2017.
- X. Chen, A. G. Dharmawan, S. H. Foong and G. S. Soh, “Seam Tracking of Large Pipe Structures for an Agile Robotic Welding System Mounted on Scaffold Structures”, Robotics and Computer-Integrated Manufacturing, 50:242-245, 2018.
- A. G. Dharmawan, S. H. Foong and G. S. Soh, “Task Constrained Optimal Motion Planning of Redundant Robots via Expanded Lagrangian Homotopy”, ASME Journal of Mechanism and Robotics, 10(3):031010, 2018.
- S. Dritsas and G. S. Soh, “Building Robotics Design for Construction – Design Considerations and Principles for Mobile Systems”, Construction Robotics, 1-10, 2018.