The 9th International Symposium on Automation and Robotics in Construction June 3-5,1992 Tokyo, Japan TASK AND MOTION PLANNING TECHNIQUE FOR DESIGNING GROUP CONTROL SYSTEM IN ROBOTIC CONSTRUCTION WORK

The purpose of this paper is to describe a task and motion planning technique for designing a group control system in robotic construction works. This technique deals with hierarchical control of multiple robots and peripheral machinery in an automated construction work-cell. The technique consists of two phases: the task planing and the motion planning. The task planning phase illustrates the interactive task sequence diagram for the group control of the work-cell. The motion planning phase describes the interactive motion relationship graph for respective robots and peripheral machinery according to the illustrated task sequence. This proposed technique facilitates the interface between construction automation designers and robot control software developers. The technique is applied in a systematic design of a control system, in terms of an experimental model of a steel column assembly, composed of four robots and four computer controllers. Assistant Professor, School of Management, Aovama Gakuin University 4-4-25 Shibuya, Shibuya-ku, Tokyo 150, JAPAN ** Professor, System Science Instituite, Waseda University 3-4-1 Ohkubo, Slain uk.u-ku, Tokyo 169, JAPAN *** Associate Professor, School of Civil Engineering, Purdue University West Lafayette, IN 47907, U.S.A.