Title :
Software design of sensor-based robot skills
Author :
Archibald, Colin ; Krieger, Moshe ; Petriu, Emil
Author_Institution :
Nat. Res. Council of Canada, Ottawa, Ont., Canada
Abstract :
A paradigm for sensor-based robot programming is discussed where robotic operations are created by combining predetermined robot skills. The creation of these skills and the tools required to design them are the main subjects of this paper. The most difficult aspect of designing sensor-based robot skills is to guarantee that realtime deadlines will be met. System design tools for realtime systems are required that will predict if the intended system functionality will be met in practice. In robot skills design, the tools can be simplified because the interfaces to sensors and robots have restricted behaviour. A coordination language is presented that allows the designer to predict the behaviour of the software modules which cooperate as a system. The language is represented in both graphical and textual form, and is complemented by timing charts. The creation of a robot skill that uses a force-torque sensor in the robot control loop is used as an example to demonstrate these concepts. It is shown that these tools create a means to predict the realtime behaviour of a system incorporating multiple devices
Keywords :
detectors; industrial robots; programming environments; programming languages; real-time systems; robot programming; ATC; PAL; PAN; activity timing chart; coordination language; force-torque sensor; manufacturing environment; multiple devices; predetermined robot skills; process activity language; process activity networks; realtime behaviour; realtime deadlines; robot control loop; robot programming; sensor-based robot skills; software design; timing charts; Councils; Laboratories; Programming profession; Robot control; Robot kinematics; Robot programming; Robot sensing systems; Sensor systems; Software design; Timing;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 1994. IMTC/94. Conference Proceedings. 10th Anniversary. Advanced Technologies in I & M., 1994 IEEE
Conference_Location :
Hamamatsu
Print_ISBN :
0-7803-1880-3
DOI :
10.1109/IMTC.1994.352097