Development of an Open and Modular Control System for Autonomous Mobile Building Robots with Flexible Manipulators

Rationalisation efforts in the construction industry are more and more affiliated with the attempt to automate the building processes. This requires mobile systems, which can move themselves independently to their place of work and execute their job there. Apart from the development of suitable planning tools for the application of these systems, their control components must meet special requirements. These are first discussed in this paper. Subsequently, an overview of the current state of the art in the area of control engineering for robots and mobile systems is presented and a suggestion is made, how a modular control system for a mobile building robot could be structured. Finally a construction possibility for a manipulator is presented, which can assume handling operations in such a mobile building Robot.