Parametric Teleoperation of a Mobile Robot for Placing Printing Supports in 3D Printed Walls (2026-01)¶

3D concrete printing (3DCP) is gaining attention for accelerating construction and reducing housing shortage. While 3DCP only automates the building’s structural frame, several tasks remain manual, including placing supports for gaps in walls that house electrical boxes. Currently, workers manually place these supports during the printing process, exposing them to struck-by hazards. Therefore, this paper aims to propose and validate a parametric modeling approach to automate the picking and placing of these supports in 3D-printed walls. The proposed method is based on the teleoperation of a manipulator mounted on a mobile UGV robot, with the system refining its localization through a robotic total station. The results demonstrated that the proposed robotic system achieves the precision and performance required for support placement tasks without the need for human intervention within the printer’s workspace. By integrating parametric modeling, teleoperation, and machine control, this study advances the level of automation, efficiency, and safety in 3DCP processes.