Robotic Timber Joinery

Description

This repository presents an integrated design-to-fabrication workflow combining parametric modeling, industrial robotics, and 3D vision sensing for the robotic fabrication of timber joinery.

Tested Requirements

• Python 3.9.12
• Zivid SDK 2.15.0
• RoboDK 5.9
• Numpy
• Open3D
• SciPy

Main Scripts

• A_camera_robot_calibration.py
  Performs eye-in-hand calibration of a Zivid 3D camera mounted on a KUKA industrial robot.

• B_pointcloud_capture.py
  Moves the robot to a predefined pose and captures the point cloud of the timber workpiece.

• C_compute_wcs_pointcloud.py
  Computes the KUKA robot BASE coordinate system and estimates the timber workpiece cross-section for tenon machining.

Additional Files

The remaining files correspond to implementation outputs and datasets associated with the experimental workflow described in the publication:

DOI: https://doi.org/10.3390/buildings15152712
URL: https://www.mdpi.com/3429700

Diagram of the workflow and the software and hardware used

Citation

If you use this repository, please cite:

Quitral-Zapata, F., García-Alvarado, R., Martínez-Rocamora, A., & González-Böhme, L. F. (2025). Workpiece Coordinate System Measurement for a Robotic Timber Joinery Workflow. Buildings, 15(15), 2712. https://doi.org/10.3390/buildings15152712