Research Issues in Robotics

Published

October 9, 1984

Author(s)

James S. Albus

Abstract

Six major problems areas in robotics are enumerated: 1. Kinematics, dynamics, and mobility 2. Sensors and Sensory Processing 3. Control 4. Knowledge Representation and Modeling 5. Programmable Methodology 6. Interfaces and Communications A hierarchical robot control architecture is described which partitions the task decomposition into eight levels; four in the robot (1) servo and coordinate transformation, (2) elemental movement, (3) simple task, (4) complex task; and four in the automatic factory, (5) task sequencing (work station), (6) part batch routing (cell), (7) long range scheduling (shop), (8) process planning, product design, and management coordination (factory). This model is used to tie together the dynamic interaction between control, sensory processing, modeling, and planning. A network architecture for robots in a small automated machine shop is used to illustrate the interface and communications issues.

Proceedings Title

Society for the Advancement of Material and Process Engineering Conference (SAMPE) Albuquerque

Conference Dates

September 9, 1984

Conference Location

Alburquerque, NM

Conference Title

Advancement of Material and Process Engineering Conference

Pub Type

Conferences

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Keywords

knowledge representation, robot control, robot interfaces, robot programming, Robot sensors

Citation

Albus, J. (1984), Research Issues in Robotics, Society for the Advancement of Material and Process Engineering Conference (SAMPE) Albuquerque, Alburquerque, NM, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820150 (Accessed December 14, 2024)