Integrated Architecture for Industrial Robot Programming and Control
Klas Nilsson and
Rolf
Johansson
Accepted for publication in Robotics
and Autonomous Systems, copyright Elsevier
Science, 1999.
Abstract
As robot control systems are traditionally closed,it is difficult to add
supplementary intelligence. Accordingly, as based on a new notion of user
views, a layered system architecture is proposed. Bearing in mind such
industrial demands as computing efficiency and simple factory-floor operation,
the control layers are parameterized by means of functional operators consisting
of pieces of compiled code that can be passed as parameters between the
layers. The required interplay between application specific programs and
built-in motion control is thereby efficiently accomplished. The results
from experimental evaluation and several case studies suggest the architecture
to be very useful also in an industrial context.