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.
Society for the Advancement of Material and Process Engineering Conference (SAMPE) Albuquerque
September 9, 1984
Advancement of Material and Process Engineering Conference
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 June 7, 2023)