A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.

A method for applying a layer of curable material to a surface including the steps of: applying the curable material to the surface; positioning a trowel relative to the surface so that a plurality of first radial teeth of the trowel, extending from a working edge of the trowel, is in contact with the surface; and with the plurality of first radial teeth in contact with the surface, moving the trowel across the surface to spread the curable material across the surface at a constant thickness.

A trowel may include a main body including at least one working edge, the working edge including an edge radius, a plurality of radial teeth extending from the working edge, each radial tooth of the plurality of radial teeth including a radial edge and a tooth radius. A distance between the edge radius and the tooth radius at any point along the working edge is the same.

The invention relates to a gluing device, for gluing brick slips, a system for gluing brick slips and a method for gluing brick slips, for example for providing brickwork veneer. Gluing device comprising: a support; a glue container that extends from a first end to a second end, wherein the glue container is operatively connected to the support; a discharge nozzle that is operatively connected to the first end of the glue container and that is provided with a discharge opening; and a plunger that, during use of the device, is positioned in the glue container and that is provided with a drive side facing the first end of the glue container and a press side facing the second end of the glue container, and wherein the plunger is operatively connected to the support, wherein the plunger and the container are connected to the support and wherein one of the plunger and the container is moveably connected to the support with respect to the other of the plunger and the container, such that the plunger and the container are moveable relative to each other.

When spreading adhesive, an adhesive spreader tool and adaptor for attachment to a handle, the adaptor and spreader tool for spreading adhesive over a floor surface from a standing position. The spreader tool includes two sheets each sheet folded along respective at least one slot to form a folded portion of the sheet. Once the two sheets are joined they form an array of castellations along respective first sides of the joined sheets and end walls formed by the folded portions, the sheets suitable for spreading adhesive over the floor the width of a tile. The adaptor is configured to engage the adhesive spreader tool and has first and second longitudinal support members adapted to be slidable within a first channel or one in each of two channels so that the support members support.

The invention relates to a gluing device, for gluing brick slips, a system for gluing brick slips and a method for gluing brick slips, for example for providing brickwork veneer. The gluing device includes a support, a glue container that extends from a first end to a second end, wherein the glue container is operatively connected to the support, a discharge nozzle that is operatively connected to the first end of the glue container and that is provided with a discharge opening, and a plunger that, during use of the device, is positioned in the glue container and that is provided with a drive side facing the first end of the glue container and a press side facing the second end of the glue container, and wherein the plunger is operatively connected to the support. The plunger and the container are connected to the support and wherein one of the plunger and the container is moveably connected to the support with respect to the other of the plunger and the container, such that the plunger and the container are moveable relative to each other.

A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of end effector destinations, determines a robot base position, calculates a robot base path extending from the robot base position in accordance with the end effector destinations to allow continuous movement of the robot base along the robot base path in accordance with a defined robot base path velocity profile and uses the robot base path to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.

Embodiments of the present invention relate to a device for tiling comprising a container for holding a tiling adhesive, and a discharger for discharging the tiling adhesive. The discharger comprises at least one aperture and is configured to fit in the inner portion of the container, wherein the device is configured such that when the discharger is placed in the inner portion of the container and a rear face of a tile is placed on a top surface of the discharger, adhesive within the container can move through the at least one aperture of the discharger to apply a portion of the tiling adhesive to the rear face of the tile.

An adhesive application system for an automated block laying machine, the adhesive application system including: (a) an adhesive supply; and, (b) an adhesive applicator including: (i) a container for storing an adhesive reservoir received from the adhesive supply via an adhesive supply line; (ii) a lid mounted to the container so as to substantially cover the adhesive reservoir; and, (iii) an adhesive roller rotatably coupled to the container so that upon rotation adhesive from the reservoir is entrained up and around at least a portion of the adhesive roller, wherein, in use, adhesive is transferred from the adhesive roller onto a bottom surface of a block as the block is moved across the roller.