Scaffold Robots

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