NDLI: Software design of sensor-based robot skills

Content Provider	IEEE Xplore Digital Library
Author	Archibald, C. Krieger, M. Petriu, E.
Copyright Year	1994
Description	Author affiliation: Nat. Res. Council of Canada, Ottawa, Ont., Canada (Archibald, C.)
Abstract	A paradigm for sensor-based robot programming is discussed where robotic operations are created by combining predetermined robot skills. The creation of these skills and the tools required to design them are the main subjects of this paper. The most difficult aspect of designing sensor-based robot skills is to guarantee that realtime deadlines will be met. System design tools for realtime systems are required that will predict if the intended system functionality will be met in practice. In robot skills design, the tools can be simplified because the interfaces to sensors and robots have restricted behaviour. A coordination language is presented that allows the designer to predict the behaviour of the software modules which cooperate as a system. The language is represented in both graphical and textual form, and is complemented by timing charts. The creation of a robot skill that uses a force-torque sensor in the robot control loop is used as an example to demonstrate these concepts. It is shown that these tools create a means to predict the realtime behaviour of a system incorporating multiple devices.
Starting Page	175
Ending Page	178
File Size	438637
Page Count	4
File Format	PDF
ISBN	0780318803
DOI	10.1109/IMTC.1994.352097
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-10
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Software design Robot sensing systems Robot kinematics Robot programming Timing Councils Robot control Programming profession Laboratories Sensor systems
Content Type	Text
Resource Type	Article

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