Full length Article: A generic controller architecture for intelligent robotic systems

Authors:
Michael Short;Kevin Burn
Affiliations:
Electronics & Control Group, Teesside University, Middlesbrough, TS1 3BA, UK;Department of Computing, Engineering & Technology, University of Sunderland, Sunderland, SR1 3SD, UK
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2011

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Abstract

This paper describes a research program to develop a novel reference architecture and design philosophy for an advanced robot controller for a new generation of robots. It is suggested that a new approach to robot controller design is required in order to bring the present generation of industrial robots in line with current and foreseeable technological developments. The paper also describes a prototype controller that has been developed using this design philosophy, and its deployment on an experimental robot. Practical results are presented from a series of investigations undertaken to illustrate the performance of the controller.