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

Published

October 28, 1992

Author(s)

James S. Albus, Charles R. McLean, Tony Barbera, M L. Fitzgerald

Abstract

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.

Proceedings Title

Proceedings of the Fourth IFAC/IFIP Symposium -- Information Control Problems in Manufacturing Technology

Conference Dates

October 26-28, 1982

Conference Location

Gaithersburg, MD, USA

Conference Title

Information Control Problems in Manufacturing Technology

Pub Type

Conferences

Download Paper

Local Download

Keywords

control theory, Hierarchical systems, industrial control, robots, sensors

Citation

Albus, J. , McLean, C. , Barbera, T. and Fitzgerald, M. (1992), Architecture for Real-Time Sensory-Interactive Control of Robots in a Manufacturing Facility, Proceedings of the Fourth IFAC/IFIP Symposium -- Information Control Problems in Manufacturing Technology, Gaithersburg, MD, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820165 (Accessed January 19, 2025)