Building Definition Language

A Robotic Approach Envelope defines the volume and path required for a robot, end effector, tool, and handled Component to perform an authorized task.

A Robotic Exclusion Envelope defines the volume that shall remain free of people, equipment, materials, or conflicting robot operations during the task.

Each robotic envelope shall define:

task;

robot class;

end effector;

target Entity;

target pose;

permitted approach directions;

approach path;

swept volume;

handled-object geometry;

position and orientation tolerance;

force and torque limits;

collision margin;

exclusion conditions;

emergency stop behavior;

verification method.

Example:

robotic_task Install_EndCartridge_EC01 {

target: @Node_N01.face_x_positive;

handled_entity: @EndCartridge_EC01;

robot_class: medium_payload_assembly;

approach {

direction: negative_x;

minimum_clear_distance: 1200 mm;

position_tolerance: ±5 mm;

angular_tolerance: ±2 deg;

}

final_engagement {

position_tolerance: ±0.5 mm;

angular_tolerance: ±0.25 deg;

maximum_force: 2.0 kN;

}

exclusion_envelope: @Node_N01_Robot_Exclusion;

}

Robotic geometry shall account for:

localization uncertainty;

Component deflection;

robot calibration;

tool geometry;

cables and hoses;

temporary supports;

human access;

construction-stage conditions.

The final mechanical Interface shall provide alignment features capable of correcting the validated residual positioning error.

A robotic task shall not be generated if the required approach or exclusion envelope is obstructed or unresolved.