Communication system for an interaction system

A construction machine for performing interactions within a physical environment, the construction machine including:

• a) a vehicle;
• b) a boom mounted to the vehicle;
• c) a robot, including:
• i) a robot base mounted to the boom;
• and,
• ii) a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon for performing interactions within the environment, wherein the robot base undergoes movement relative to the environment while the robot arm is in use,
• d) a communications system including a fieldbus network;
• e) a tracking system including:
• i) a tracking base positioned in the environment and connected to the fieldbus network via a tracking system controller;
• and,
• ii) a tracking target mounted to the robot base, wherein the tracking base is configured to detect the tracking target and data derived from signals from one or more tracking base sensors are processed by the tracking system controller to determine a position and/or orientation of the tracking target relative to the tracking base;
• and,
• f) a control system that:
• i) communicates with the tracking system controller via the fieldbus network to determine a robot base pose derived from the position and/or orientation of the tracking target relative to the tracking base while the robot base undergoes movements;
• ii) determines an expected robot base pose;
• iii) calculates a deviation between a current robot base pose and the expected robot base pose;
• and
• iv) actuates the robot arm to undergo movement via the fieldbus network at least partially in accordance with the deviation to thereby stabilize the position of the end effector whilst said interactions are performed.