Modular Control Architecture for Reconfigurable Fabrication Systems for Prefabrication in Construction

In comparison to the automotive and manufacturing industries, the level of automation and productivity in the construction sector is still relatively low. The construction industry requires high flexibility in automation to meet its specific needs. The use of modern building systems with improved structural properties and lower resource consumption results in many uniquely shaped components. The fabrication of these components requires a high level of control over the prefabrication process. Recent work in this area introduces the concept of a reconfigurable, modular, and transportable robotic platform for prefabrication. This fabrication platform can be set up for fabrication at local companies. The modular approach allows quick reconfiguration of the system to different projects and keeps downtime between them low. However, this requires that the modularity of the platform is also reflected in the control system and the software. We propose a suitable control framework based on the Robot Operating System (ROS), that similarly supports reconfiguration of the system and adaption to the requirements of individual projects. The control implements self-configuration from AutomationML-models of the fabrication system. Augmented Reality (AR) supported cooperative integration of human labor into the prefabrication system increases its flexibility and adaptability. In support of this goal, the proposed control architecture provides an interface that enables AR-based interaction with the prefabrication system.