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Publications

PLEASE NOTE: The Publications System provided by the Manufacturing Systems Integration Division (MSID) has moved to: http://www.mel.nist.gov/msidlibrary/publications.html. The pages below are maintained for archival purposes only.

Publication summary

Author(s): J. Albus, Charles McLean, A. Barbera and M. Fitzgerald

Publication date: October 1982

Citation: J. Albus, Charles McLean, A. Barbera and M. Fitzgerald: "An Architecture for Real-Time Sensory-Interactive Control of Robots in a Manufacturing Facility," Proceedings of the 4th International Federation of Automatic Control Symposium, October, 1982.

Availability:

  • A paper copy of this document is available by contacting Kristy Thompson [web,email]
Abstract:
A hierarchical architecture is described for a robot integrated into a real-time sensory interactive factory control system. In this architecture, high level goals are decomposed through a succession of levels, each producing strings of simpler commands to the next lower level. The bottom level generates the drive signals to the robot actuators. Each control level is a separate process with a limited scope of responsibility. Each performs the generic control function of sampling its input and generating appropriate outputs. The input is characterized by three types of data--a command from the next higher level, processed sensory data, and status feedback from the next lower level. The outputs are of three types-- a command to the next lower level, a request for sensory information to the processing module at the same level, and a status feedback to the next higher level. This paper describes this generic control structure and its implementation in a real-time sensory- interactive control system for a manufacturing facility.

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