A vehicle for a mobile masonry robot

Abstract

Within an ESPRIT III project a mobile masonry robot was designed. After a global project overview the kinematic equations of a vehicle with three degrees of freedom are derived. The structure for the low-level controller can easily be adapted to several combinations of sensors like path-line, compass, dead-reckoning or absolute posture of the vehicle. A simple interpolator is integrated but can be replaced by a more sophisticated solution.