Control system for construction machine, construction machine, and control method for construction machine incorporating bucket weight data

A control system for a construction machine including working equipment that includes an arm and a bucket removable from the arm, the control system comprising:

• a processor, the processor being configured to:
• acquire a position of the working equipment;
• acquire a design surface indicating a target shape of a construction target;
• generate a target value of an amount of control of the working equipment based on the position of the working equipment and the design surface;
• store a prediction model, including a dynamic model, for the working equipment;
• acquire weight data of the bucket, which is a weight of the bucket, the bucket being interchangeable with another bucket of a different weight, which has a different weight data;
• update the prediction model based on the weight data;
• calculate a predicted value of the amount of control of the working equipment based on the target value and the prediction model, and calculate an amount of drive to control the working equipment based on the predicted value;
• and
• output a control command to control the working equipment based on the amount of drive,
• wherein the amount of control includes a moving speed of the bucket and a position of a predetermined portion of the bucket, and
• a second constraint condition relating to a position of the bucket relative to the design surface of the construction machine is calculated, and
• the amount of drive is calculated by changing the prediction model so as to satisfy the second constraint condition.