An Architecture for Real-Time Sensory-Interactive Control of Robots in a Manufacturing Facility

A hierarchical architecture is described for a robot integrated into a real-time sensory interactive factory control system. In this architecture, high level goals are decomposed through a succession of levels, each producing strings of simpler commands to the next lower level. The bottom level gene...

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Bibliographic Details
Published inIFAC Proceedings Volumes Vol. 15; no. 8; pp. 81 - 90
Main Authors Albus, J.S., McLean, C.R., Barbera, A.J., Fitzgerald, M.L.
Format Journal Article
LanguageEnglish
Published 01.10.1982
Subjects
control theory
Hierarchical systems
industrial control
robots
sensors
industrial control
sensors
robots
control theory
Hierarchical systems
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Summary:A hierarchical architecture is described for a robot integrated into a real-time sensory interactive factory control system. In this architecture, high level goals are decomposed through a succession of levels, each producing strings of simpler commands to the next lower level. The bottom level generates the drive signals to the robot actuators. Each control level is a separate process with a limited scope of responsibility. Each performs the generic control function of sampling its input and generating appropriate outputs. The input is characterized by three types of data - a command from the next higher level, processed sensory data, and status feedback from the next lower level. The outputs are of three types - a command to the next lower level, a request for sensory information to the processing module at the same level, and a status feedback to the next higher level. This paper describes this generic control structure and its implementation in a real-time sensory-interactive control system for a manufacturing facility.
ISSN:1474-6670
DOI:10.1016/S1474-6670(17)62779-4