The development and testing of each alternative
includes building all the components of the robot, of
the building’s physical model, and of the raw materi-
als such as tiles.; and executing a preliminary functional
feasibility test by drawing the effective work
envelope of the robot, examining with it the robot’s
ability to operate within its confined environment;
and checking the work outputs. The performances of
various alternatives of the robot, their operating
strategies, and the environment were simulated with
the graphic simulation system. The robot, and the
rooms it is intended to operate in, were modeled.
The first step was to check that the robot can reach
extreme working points tiles to be taken from the
pallet, setting locations of tiles, and intermediate
points. without any collision with the environment.
Certain changes to the robot configuration and the
sizes of some of its components were made as a
result of this step.