Sensing and Control for Robotic Masonry

by Rami A. Rihani, North Carolina State Univ, Raleigh, United States,
Leonhard E. Bernold, North Carolina State Univ, Raleigh, United States,



Document Type: Proceeding Paper

Part of: Robotics for Challenging Environments

Abstract:

Due to kiln firing in the brick fabrication process, bricks vary in color, texture, and size. In an effort to automate masonry, sensing and control modules are required to ensure a normal brick color distribution and the detection of cracked units of brick. This paper presents two work cells of an Experimental Robotic Masonry System (ERMaS) dealing with: a) dehacking, and b) brick placement. First, the components and equipment used in each work cell are described. Then the discussion continues to include the experimental work performed. The work cells are geared to establish critical robotic control modules for a prototype system presented in this paper.

Subject Headings: Automation and robotics | Bricks | Masonry | Sensors and sensing | Probe instruments | Control systems | Fabrication

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