An application example of the NBS robot control system

Haynes, L.; Barbera, Anthony J.; Albus, James S.; Fitzgerald, M L.; Mccain, H

doi:10.1016/0736-5845(84)90083-8

Cited by 13 publications

(2 citation statements)

References 4 publications

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“…A copy of the output data is moved to a duplicate buffer area in common memory and from there moved into the input buffer of the other module ( Figure 11. 3) This type of communication provides the system with a number of advantages. First, the addition or deletion of processes or components in the system is simplified.…”

Section: Common Memory Based Communicationmentioning

confidence: 99%

Real-time control system software: Some problems and an approach

Haynes¹,

Wavering²

1986

Proceedings. 1986 IEEE International Conference on Robotics and Automation

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Section: Common Memory Based Communicationmentioning

confidence: 99%

Real-time control system software: Some problems and an approach

Haynes¹,

Wavering²

1986

Proceedings. 1986 IEEE International Conference on Robotics and Automation

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“…The hierarchy of the symbiont contains components similar to NIST's proposed standard architecture, RCS [7]. However, the style of message passing implemented for the symbiont makes this system differ from the RCS type.…”

Section: Software Architecturementioning

confidence: 99%

Architecture for a human-robot symbiotic system

DePiero

Manges

Kress

et al.

[1990] Proceedings. The Twenty-Second Southeastern Symposium on System Theory

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This paper describes a human-robot symbiont that is under development at Oak Ridge National Laboratory. An overview of the symbiotic system is described that motivates the architecture that has been developed. The architecture is a hierarchical structure that consists of several expert systems which reside above a robot control interface. This interface allows the manipulator to be operated in both a teleoperated and autonomous mode. All these processes coexist with the lowest level of the hierarchy, which is a numerically intensive control algorithm. The architecture is implemented on five processors in a coarsely parallel system.

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An integrated programming environment for a generic robotic workcell

1989

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The complexity of modern robotic workcells, consisting of many cooperating elements (e.g., robots, sensing systems) makes programming applications enormously difficult. Even when the application can be easily decomposed into workcelll operations, the tight coupling among these operations due to constraints on precedence and resource sharing makes it difficult to identify and take advantage of possible concurrency. Since robotic workcells are typically configured to repetitively perform an application, we seek to minimize the ‘cycle’ time required, by optimizing the order in which operations take place. Eventually, a sequential program must be written for each workcell element, and they must then execute concurrently. Commercial robot languages and systems provide neither the necessary tools for programming such a distributed collection of elements nor a mechanism for inter‐element communication. In this article the authors propose a two‐part solution to this workcell programming problem: SAGE/WRAP. A graphics interface is provided to the user in order to define the application. Then, from the user's input, SAGE builds a Petri Net description of the workcell application; this is used to obtain a time‐optimal sequence of operations for each workcell element. The time‐optimal sequence then becomes the basis of the runtime program that performs the application. This program is interpreted and executed by the hierarchical workcell runtime environment called WRAP. An example is provided to illustrate the approach.

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An application example of the NBS robot control system

Cited by 13 publications

References 4 publications

Real-time control system software: Some problems and an approach

Real-time control system software: Some problems and an approach

Architecture for a human-robot symbiotic system

An integrated programming environment for a generic robotic workcell

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