A Novel Concrete Placing Path Generation Method Based on Error Zone with Concrete Placing Robot

In order to solve the problem of low automation in concrete placing construction, in this paper, a new Concrete Placing Robot is designed (CPR), which employs three slewing joints to perform concrete placing. The CPR is assembled on an intelligent adjustable-height construction platform with high flexibility for the application of planning algorithms, and the platform is easy to disassemble. Then, an error zone based placing path generation method is proposed for this slewing ultra-long-arm robot. Using this method, the placing path with optimal time and optimal energy can be obtained. Moreover, Q-learning algorithm has adopted to obtain the angular trajectory curves of the three slewing joints, which avoids the complex calculations of robot inverse kinematics. The feasibility of the method is verified by simulation and semi-physical experiments.