A METHOD AND A SYSTEM FOR COLLISION AVOIDANCE OF A 3D ROBOTIC CONCRETE PRINTER

The present invention concerns a system and a method for collision avoidance of a 3D robotic concrete printer, whereby the method comprises the steps of performing an application and/or manipulation process by executing instructions, such as based on G-Code, with a 3D robotic concrete printer by moving a tool in a path for applying and/or manipulating concrete material; and moving the tool in response to commands to a motion planner, said movement being assisted by a model-based collision prediction system, whereby the model-based collision-prediction system involves the steps of inferring and generating 3D geometries of concrete structures from applying and/or manipulating concrete structures by commanding the 3D robotic concrete printer, using the 3D geometries as a 3D collision model, which allow at any point in time to check if parts of the 3D robotic concrete printer would yield a collision when performing said movement; whereby the 3D collision model of the concrete structure is developed in parallel to the application and/or manipulation process and is updated in correspondence to the progress of the execution of the process instructions.