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Self-contained automated construction deposition system



R L. Williams, James S. Albus, Roger V. Bostelman


This article presents a novel autonomous system concept for automated construction of houses and other buildings via deposition of concrete and similar materials. The overall system consists o f a novel cable-suspended mobility subsystem (a selfcontained extension o f the RoboCrane), a deposition nozzle subsystem, a metrology subsystem, and a material supply subsystem. This article focuses mainly on the kinematics and statics analysis for control of the self-contained cable-suspended mobility subsystem. We also present alternate design concepts for the mobility system. The purpose o f the Cartesian metrology system is to provide an outer-loop controller to provide the required Cartesian pose motions despite uncertainties and unmodeled effects such as cable stretch, wear, and flexibility, plus wind loads. 0 2004 Elsevier B.V. All rights reserved.
Automation in Construction
Volume 13, Issue 3


automated construction, cable-suspended, deposition, forward pose kinematics, Robot Crane


Williams, R. , Albus, J. and Bostelman, R. (2004), Self-contained automated construction deposition system, Automation in Construction, [online], (Accessed June 20, 2024)


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Created December 30, 2004, Updated October 12, 2021