An Efficient Novel Algorithm for Positioning a Concrete Boom Pump

Abstract

Robots are used in many fields as they have remarkable benefits. Some of these benefits are robots precision, high productivity, time-saving and the ability to work in harsh working environments. The boom of the Concrete Boom Pump (CBP) is one of serial robot arm forms, and it is used in the field of construction. The boom base positioning is crucial since it is essential to accomplish the tasks efficiently. The boom base positions are determined according to the operator experience which consumes effort and time and consequently operation cost. Boom base positions could be determined using an automated method to save operation time. The proposed algorithm determines the boom base positions depending on the position of the concrete pouring points. The results show the ability of the proposed algorithm to determine the CBP base positions with high efficiency over other methods. Moreover, the proposed method shows low processing time than others.