Cable-drivenrobotshavereceivedsomeattention by the scientific community and, recently, by the industry because they can transport hazardous materials with a high level of safeness which is often required by construction sites. In this context, this research presents an extension of a cable-driven robot called SPIDERobot, that was developed forautomatedconstructionofarchitecturalprojects.Theproposed robot is formed by a rotating claw and a set of four cables, enabling four degrees of freedom. In addition, this paper proposes a new Vision-Guided Path-Planning System (V-GPP)thatprovidesavisualinterpretationofthescene:the position of the robot, the target and obstacles location; and optimizesthetrajectoryoftherobot.Moreover,itdetermines a collision-free trajectory in 3D that takes into account the obstacles and the interaction of the cables with the scene. A setofexperimentsmakepossibletovalidatethecontribution of V-GPP to the SPIDERobot while operating in realistic
working conditions, as well as, to evaluate the interaction between the V-GPP and the motion controlling system. The results demonstrated that the proposed robot is able to construct architectural structures and to avoid collisions with obstacles in their working environment. The V-GPP system localizestherobotwithaprecisionof0.006m,detectsthetargetsandsuccessfullygeneratesapaththattakesintoaccount the displacement of cables. Therefore, the results demonstrate that the SPIDERobot can be scaled up to real working conditions

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• A cable-driven robot for architectural constructions: a visual-guided approach for motion control and path-planning