Publications Details

Automating construction through the use of robotics and Graphical Programming

Mcdonald, M.J.; Palmquist, R.D.

Sandia has developed an advanced operational control system approach, called Graphical Programming, to design and operate robot systems in unstructured environments. This Graphical Programming approach produces robot systems that are faster to develop and use, safer in operation, and cheaper overall than altemative teleoperation or autonomous robot control systems. This approach uses 3-D visualization and simulation software with intuitive operator interfaces for the programming and control of complex robotic systems. Supervisor software modules allow an operator to command and simulate complex tasks in a graphic preview mode and, when acceptable, command the actual robots and monitor their motions with the graphic system. Graphical Programming Supervisors maintain registration with the real world and allow the robot to perform tasks that cannot be accurately represented with models alone by using a combination of model and sensor-based control. All of these capabilities when combined result in a flexible system which is readily able to meet the demands called for in construction automation. This paper describes the Graphical Programming approach, several example control systems that use Graphical Programming, key features necessary for implementing successful Graphical Programming systems, and specific examples of applying these systems to robotic operations.