Figure 5.
The two side-by-side diagrams are labelled a and b, each representing a brick wall with horizontal rows aligned along an x axis and vertical direction marked as z. In diagram a, bricks are arranged progressively across the wall in the direction of construction indicated by a right-pointing arrow, with a vertical double-headed arrow marking wall height. A legend below identifies categories as placed brick, within operational range, and out of range. In diagram b, a circular dashed boundary marks the cobot operational range over part of the wall. Bricks inside this boundary differ from those outside, indicating accessible and inaccessible regions relative to the cobot. The same x axis and wall height indicators appear on the right side.Pick and Place assembly logic. (a) Proposed assembly logic by Blockbot. (b) Revised assembly logic given the robot’s operational range