Robotic platform for construction

Abstract

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 at least three hydraulic joints, the at least three hydraulic joints operable to receive instructions from the controller, wherein a proximal end of the first control arm is coupled to a base unit and a distal end extends away from the proximal end, and the at least three hydraulic joints are located between the proximal and distal end, wherein the at least three hydraulic joints include a positional feedback system that provides data to the controller and wherein the at least three hydraulic joints having an associated hydraulic cylinder, wherein the hydraulic cylinder contains the positional feedback system;   inertial feedback sensors located along the first control arm, wherein the inertial feedback sensors provide data to the controller and the controller compares the data from the inertial feedback sensors with the data received from the hydraulic cylinders;   a second control arm coupled to the distal end of the first control arm, wherein the first control arm has a reach that is at least two times greater than the second control arm;   an extrusion head located on the distal end of the second control arm, the extrusion head operable to extrude material to form a building;   wherein the controller is operable to adjust the first control arm to hold the distal end steady 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 the controller directions.   
     
     
         2 . The system as recited in  claim 1 , wherein the reach of the first control arm is at least ten times greater than the second control arm. 
     
     
         3 . The system as recited in  claim 1 , wherein the reach of the first control arm is at least five times greater than the second control arm. 
     
     
         4 . The system as recited in  claim 1 , wherein the reach of the first control arm is at least three times greater than the second control arm. 
     
     
         5 . (canceled) 
     
     
         6 . (canceled) 
     
     
         7 . (canceled) 
     
     
         8 . The system as recited in  claim 1 , 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 the print head is adjusted by the second control arm to be at the desired location. 
     
     
         9 . The system as recited in  claim 8 , wherein the window is a predetermined shape based on the degrees of freedom of the second control arm. 
     
     
         10 . The system as recited in  claim 9 , wherein the window extends greater in one direction as compared to another direction.