Laser-based dynamic measurements, model identification and error compensation for multi-arm robotic pre-fabrication of structural components

目的是建立基于激光的动态测量方法，精确的模型识别和多臂协作机器人操作系统的误差校正。 预期成果包括开发使能技术和世界上第一个结构木材组件自动化制造系统。 所建立的新方法将提高安全性，并改善澳大利亚和海外住房，工业和商业项目的墙框架，屋顶桁架，地板和天花板的制造和自动化。 其他应用领域包括大型部件的多臂制造和处理、危险环境中的材料处理以及偏远地区的机器人服务任务。

The aim is to establish methodologies for laser-based dynamic measurements, accurate model identification and error correction in multi-arm cooperative robotic manipulation systems. The expected outcomes include development of enabling technologies and the world's first automated fabrication system for structural timber components. The novel methodologies established will increase safety, and improve and automate the fabrication of wall frames, roof trusses, and floor and ceiling panels for housing, industrial and commercial projects within Australia and overseas. Other application areas include multi-arm manufacturing and handling of large components, materials handling in hazardous environments, and robotic servicing tasks in remote places.