Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow
Robotic timber joinery demands integrated, adaptive methods to compensate for the inherent dimensional variability of wood. We introduce a seamless robotic workflow to enhance the measurement accuracy of the Workpiece Coordinate System (WCS). The approach leverages a Zivid 3D camera mounted in an ey...
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MDPI AG
2025-07-01
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| Series: | Buildings |
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| Online Access: | https://www.mdpi.com/2075-5309/15/15/2712 |
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| author | Francisco Quitral-Zapata Rodrigo García-Alvarado Alejandro Martínez-Rocamora Luis Felipe González-Böhme |
| author_facet | Francisco Quitral-Zapata Rodrigo García-Alvarado Alejandro Martínez-Rocamora Luis Felipe González-Böhme |
| author_sort | Francisco Quitral-Zapata |
| collection | DOAJ |
| description | Robotic timber joinery demands integrated, adaptive methods to compensate for the inherent dimensional variability of wood. We introduce a seamless robotic workflow to enhance the measurement accuracy of the Workpiece Coordinate System (WCS). The approach leverages a Zivid 3D camera mounted in an eye-in-hand configuration on a KUKA industrial robot. The proposed algorithm applies a geometric method that strategically crops the point cloud and fits planes to the workpiece surfaces to define a reference frame, calculate the corresponding transformation between coordinate systems, and measure the cross-section of the workpiece. This enables reliable toolpath generation by dynamically updating WCS and effectively accommodating real-world geometric deviations in timber components. The workflow includes camera-to-robot calibration, point cloud acquisition, robust detection of workpiece features, and precise alignment of the WCS. Experimental validation confirms that the proposed method is efficient and improves milling accuracy. By dynamically identifying the workpiece geometry, the system successfully addresses challenges posed by irregular timber shapes, resulting in higher accuracy for timber joints. This method contributes to advanced manufacturing strategies in robotic timber construction and supports the processing of diverse workpiece geometries, with potential applications in civil engineering for building construction through the precise fabrication of structural timber components. |
| format | Article |
| id | doaj-art-5ed0045ef56a41528ae7770af9ca12c0 |
| institution | DOAJ |
| issn | 2075-5309 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Buildings |
| spelling | doaj-art-5ed0045ef56a41528ae7770af9ca12c02025-08-20T03:02:58ZengMDPI AGBuildings2075-53092025-07-011515271210.3390/buildings15152712Workpiece Coordinate System Measurement for a Robotic Timber Joinery WorkflowFrancisco Quitral-Zapata0Rodrigo García-Alvarado1Alejandro Martínez-Rocamora2Luis Felipe González-Böhme3Department of Architecture, Universidad Técnica Federico Santa María, San Joaquín 8940897, ChileDepartment of Design and Theory of Architecture, Universidad del Bío-Bío, Concepción 4051381, ChileIUACC, ArDiTec Research Group, Department of Architectural Constructions II, Higher Technical School of Building Engineering, University of Seville, Av. Reina Mercedes 4-a, 41012 Seville, SpainDepartment of Architecture, Universidad Técnica Federico Santa María, Valparaíso 2390123, ChileRobotic timber joinery demands integrated, adaptive methods to compensate for the inherent dimensional variability of wood. We introduce a seamless robotic workflow to enhance the measurement accuracy of the Workpiece Coordinate System (WCS). The approach leverages a Zivid 3D camera mounted in an eye-in-hand configuration on a KUKA industrial robot. The proposed algorithm applies a geometric method that strategically crops the point cloud and fits planes to the workpiece surfaces to define a reference frame, calculate the corresponding transformation between coordinate systems, and measure the cross-section of the workpiece. This enables reliable toolpath generation by dynamically updating WCS and effectively accommodating real-world geometric deviations in timber components. The workflow includes camera-to-robot calibration, point cloud acquisition, robust detection of workpiece features, and precise alignment of the WCS. Experimental validation confirms that the proposed method is efficient and improves milling accuracy. By dynamically identifying the workpiece geometry, the system successfully addresses challenges posed by irregular timber shapes, resulting in higher accuracy for timber joints. This method contributes to advanced manufacturing strategies in robotic timber construction and supports the processing of diverse workpiece geometries, with potential applications in civil engineering for building construction through the precise fabrication of structural timber components.https://www.mdpi.com/2075-5309/15/15/2712robotic timber joineryrobotic timber constructionworkpiece coordinate systemcomputer visionpoint cloud processingadaptive toolpath generation |
| spellingShingle | Francisco Quitral-Zapata Rodrigo García-Alvarado Alejandro Martínez-Rocamora Luis Felipe González-Böhme Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow Buildings robotic timber joinery robotic timber construction workpiece coordinate system computer vision point cloud processing adaptive toolpath generation |
| title | Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow |
| title_full | Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow |
| title_fullStr | Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow |
| title_full_unstemmed | Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow |
| title_short | Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow |
| title_sort | workpiece coordinate system measurement for a robotic timber joinery workflow |
| topic | robotic timber joinery robotic timber construction workpiece coordinate system computer vision point cloud processing adaptive toolpath generation |
| url | https://www.mdpi.com/2075-5309/15/15/2712 |
| work_keys_str_mv | AT franciscoquitralzapata workpiececoordinatesystemmeasurementforarobotictimberjoineryworkflow AT rodrigogarciaalvarado workpiececoordinatesystemmeasurementforarobotictimberjoineryworkflow AT alejandromartinezrocamora workpiececoordinatesystemmeasurementforarobotictimberjoineryworkflow AT luisfelipegonzalezbohme workpiececoordinatesystemmeasurementforarobotictimberjoineryworkflow |