動作計画機能を有するROSベースのブロックプリンティングシステム

抄録

We call block type 3D printing “Block Printing.” Block printing has some advantages compared to laminated 3D printing. It can easily assemble a product composed of multiple materials. Additionally, a product made by blocks can be easily disassembled into blocks, which can be used for another block model. We developed a block printing system for automatic block assembly in our previous study. This system, however, was implemented for a specific robot. In this paper, we describe a new block printing system with higher compatibility with various robots. We attach importance to hardware-independence and motion planning. In order to realize them, we introduce ROS and MoveIt! into the new block printing system. We verify the system by assembly experiments and simulations.