Diatom: A Robotic Planning Environment

While robotics and additive manufacturing offer promise for revolutionizing construction, their integration into mainstream practices remains limited. This research emphasizes the critical role of digital transformation in the construction sector, particularly in democratizing technological advancements. It focuses on developing a user-friendly API for design and fabrication, integrating additive manufacturing and robotic assembly techniques seamlessly. An alternative methodology for determining robotic inverse kinematics based on geometric properties has been explored, currently tailored for the UR Robots system. This geometric approach aims to address inherent challenges in inverse kinematics by visually assessing the workspace and desired end effector positions, eliminating configurations that may lead to collisions or unsuitable robot stances. Additionally, the system allows interaction with extensional tools like extruder units or grip tools, enabling more versatile usage of complex additive manufacturing and assembly operations. By empowering non-expert operators to utilize these capabilities effortlessly, the objective is to promote widespread adoption and integration of advanced processes into routine construction workflows. Ultimately, this endeavor aims to drive innovation in construction processes, facilitating a more sustainable and efficient built environment.