Augmented Robotic Craftsmanship
MR Interface
Integrative Technologies and Architectural Design Research (ITECH)
Master of Science
Thesis Project
2020/10/29
SCOPE
The scope of this research is focused on demonstrating a synthesis of design and fabrication through the development of key collaborative scenarios. In order to achieve this, we treat the human's role as the designer populating the design space and the robot's role as the fabricator populating the fabrication space. We then developed a novel material processing system using a prototypical material system. Which was the basis for developing a custom tool for the human responsible for design exploration and robot control. We also developed a custom robotic end effector for the robot, responsible for material processing. In order to enable communication and interaction, we then developed a custom communication network connecting the designer and the robot with their design and fabrication tools.
In order to achieve the aim of this research, we have divided the project into 4 key parts.
Firstly we determine and outline the key behaviors of a material system that could be enhanced by a collaborative robotic workflow and then select a material to best demonstrate this. The second part looks into the development of a design and robotic control tool developed with mixed reality and an ios phone application. Which focuses on core functionality for design, control, and situational awareness in a specific fabrication scenario. Thirdly we look at the material processing, variables, and parameters that affect the behavior and then the development of a custom robotic end effector in order to achieve control of the material system. Lastly, we integrated our system through a custom-developed communication system and developed custom fabrication sequences through the interaction of the user's tool, the robot, and the end effector.
Extension Project
This app implemented with Unity3D and demonstrate how universal KUKA robot inverse kinematics allows users to define robot trajectories using marker and re-adjust, visualize and rationalize robot type, running speed, planning, and joint limits in a single AR app.
It was running on IPhone 12 Pro with Lidar sensor which creates much more reliable mesh.
This project was done in 2021 for Robotic Filming industries to planning the robot motions on site without bothering logistics issues.
