A Real-Time, Hierarchical, Sensor-Based Robotic System Architecture

Authors:
Timothy Hebert;Kimon Valavanis;Ramesh Kolluru
Affiliations:
Robotics and Automation Laboratory (RAL) CACS and A-CIM Center University of Southwestern Louisiana, Lafayette LA, 70504, U.S.A.;Robotics and Automation Laboratory (RAL) CACS and A-CIM Center University of Southwestern Louisiana, Lafayette LA, 70504, U.S.A.;Robotics and Automation Laboratory (RAL) CACS and A-CIM Center University of Southwestern Louisiana, Lafayette LA, 70504, U.S.A.
Venue:
Journal of Intelligent and Robotic Systems
Year:
1998

Citing 7
Cited 2

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Robot hands and the mechanics of manipulation
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Fundamentals of Robotics: Analysis and Control

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Abstract

A robotic system architecture is presented and its real-time performance,when used to control a robotic gripper system for deformation-free handlingof limp material, is evaluated. A major problem to be overcome has been theintegrability and compatibility issues between various components of thedeveloped system. The software and hardware protocols and interfacesdeveloped to control and coordinate the subsystem operations andinteractions are presented. The performance of the developed real-time,hierarchical, sensor-based robotic system architecture is found to meet andsatisfy a set of system operational constraints and demands as dictated bythe industry.