Method and a system for collision avoidance of a 3D robotic concrete printer

A system for collision avoidance of a 3D robotic concrete printer, said system comprising

• a motion planner configured to generate motion commands from selectable inputs, as fully automated operation following a given program, manual operation from joysticks and similar input devices for operators, or sensor-based operation configured to move a tool of the printer according to sensor data;
• a motion controller configured to interpret motion commands from the motion planner for physical execution on the physical printer;
• and
• a model-based collision prediction system configured for testing the motion commands coming from the motion planner for collisions and allowing collision-free motion commands to be executed by the motion controller and not allowing commands that would cause a collision;
• wherein the model-based computer program configured to
• inferring and generating 3D geometries of concrete structures from application and/or manipulation process control commanding the 3D robotic concrete printer;
• and
• using the 3D geometries as a 3D collision model, which allow at any point in time to check if parts of the 3D robotic concrete printer would yield a collision when performing said movement;
• wherein
• the motion controller comprises a 3D model of the concrete structure, which is updated in correspondence to the progress of the execution of the process instructions.