A system for performing interactions within a physical environment, the system including: a robot having a robot base that undergoes movement relative to the environment and a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a communications system including a fieldbus network; a tracking system including a tracking base positioned in the environment and connected to the fieldbus network, and a tracking target mounted to a component of the robot, wherein the tracking base is configured to detect the tracking target to allow a position and/or orientation of the tracking target relative to the tracking base to be determined; and a control system that communicates with the tracking system via the fieldbus network to determine the relative position and/or orientation of the tracking target and controls the robot arm in accordance with the relative position and/or orientation of the tracking target.

A method and system for removing mortar from a plurality of joints between a plurality of masonry units in a masonry structure, incorporating a suspension work platform, a work tool, and an articulating arm system (500).

A method and system for removing mortar from a plurality of joints between a plurality of masonry units in a masonry structure is provided. The steps for accomplishing the method include identifying the location of at least one of the plurality of joints between the plurality of masonry units and positioning a work tool capable of adjustability of at least one of pitch, roll, yaw, elevation, and cutting depth. Locking at least one of the adjustable attributes and advancing the work tool along the joint to remove mortar.

A system for performing interactions within a physical environment including a robot having 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 for performing said interactions, a tracking system that measures a robot position indicative of a position of at least part of the robot relative to the environment, and a control system that determines the robot position; and, controls the robot arm in accordance with the robot position. The tracking system measures the position with a frequency that is at least 10 Hz and measures the position with an accuracy that is at least better than 10 mm, whilst the control system operates with a frequency that is at least 10 Hz.

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.

Construction system, particularly for operation by an end-user, comprising a robot device configured for constructing a wall and/or pillar structure, and at least one marking device for defining the course, form and/or position of a wall and/or pillar structure, wherein the marking device is detectable by the robot device, and wherein the robot device is configured to construct a wall and/or pillar structure at and/or along the marking device.

The present disclosure provides a vehicle which incorporates a robotic block laying machine for use in constructing a block structure, the vehicle including: (a) a vehicle chassis: (b) a base frame mounted to the chassis; and, (c) a robotic block laying machine mounted from the base frame, the machine including: (i) one or more loading bays for receiving pallets of blocks stacked with one or more courses of blocks wherein each course comprises a plurality of rows of blocks; (ii) at least one robotic arm configured to pick any individual block directly from a course of the pallet; and, (iii) a block conveying system that receives blocks from the at least one robotic arm and transports them to a laying head of the machine that lays the blocks in order to create the block structure.

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 a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.

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.