Localised and Learnt Applications of Machine Learning for Robotic Incremental Sheet Forming

While fabrication is becoming a well-established field for architectural robotics, new possibilities for modelling and control situate feedback, modelling methods and adaptation as key concerns. In this paper we detail two methods for implementing adaptation, in the context of Robotic Incremental Sheet Forming (ISF) and exemplified in the fabrication of a bridge structure. The methods we describe compensate for springback and improve forming tolerance by using localised in process distance sensing to adapt tool-paths, and by using pre-process supervised machine learning to predict stringback and generate corrected fabrication models.