Robotic platform for construction
System for constructing a building implementing a controller. The system includes a first control arm and a second control arm. The system also includes an extrusion head located on a distal end of the second control arm. The controller is operable to adjust the first control arm to hold a distal end stead within a predetermined window of coordinates. The controller is also operable to position the second control arm such that the extrusion head is located according to the controller directions.
1. A system for constructing a building comprising:
a controller including a memory and one or more processors;
a first control arm including a hydraulic joint, a proximal end and a distal end, the hydraulic joint operable to receive instructions from the controller, the proximal end of the first control arm being coupled to a base unit, and the hydraulic joint being located between the proximal and the distal end;
a position feedback sensor that provides data to the controller regarding a position of the hydraulic joint;
an inertial feedback sensor located on the first control arm, wherein the inertial feedback sensor provides data to the controller;
a second control arm coupled to the distal end of the first control arm; and
an extrusion head attached to a distal end of the second control arm, the extrusion head operable to extrude material to form a structure;
wherein the controller is operable to adjust the first control arm to position the distal end of the first control arm within a predetermined window of coordinates, and the controller is operable to position the second control arm such that the extrusion head is located according to directions from the controller;
wherein the controller determines if the distal end of the first control arm is within a window that is defined by operational reach of the second control arm, whereby a print head is adjusted by the second control arm to be at a desired location;
wherein the window is a predetermined shape based on degrees of freedom of the second control arm; and
wherein the window extends greater in one direction as compared to another direction.
2. The system as recited in claim 1 , wherein the position feedback sensor is mounted to the hydraulic joint.
3. The system as recited in claim 1 , wherein the controller compares the data from the inertial feedback sensor with the data received from the position feedback sensor.
4. The system as recited in claim 1 , further including a container for holding a material to be delivered to the extrusion head, the container being in communication with the extrusion head.
5. The system as recited in claim 1 , further including a container for holding a material to be delivered to the extrusion head, the container being in communication with the extrusion head.
6. A system for constructing a building comprising:
a controller including a memory and one or more processors;
a first control arm including a hydraulic joint, a proximal end and a distal end, the hydraulic joint operable to receive instructions from the controller, the proximal end of the first control arm being coupled to a base unit, and the hydraulic joint being located between the proximal and the distal end;
a position feedback sensor mounted to the hydraulic joint and that provides data to the controller regarding a position of the hydraulic joint;
an inertial feedback sensor located on the first control arm, wherein the inertial feedback sensor provides data to the controller;
a second control arm coupled to the distal end of the first control arm; and
an extrusion head attached to a distal end of the second control arm, the extrusion head operable to extrude material to form a structure;
wherein the controller uses data from the position feedback sensor and the inertial feedback sensor to control movement of the extrusion head;
wherein the controller determines if the distal end of the first control arm is within a target window;
wherein the window is a predetermined shape based on degrees of freedom of the second control arm; and
wherein the window extends greater in one direction as compared to another direction.
7. The system as recited in claim 6 , wherein the controller compares the data from the inertial feedback sensor with the data received from the position feedback sensor.