NNS: A Lisp-based environment for the integration and operating of complex robotics systems

This paper addresses issues of integration and programming of complex robotics systems. It describes the underlying approach, the design and implementation of the NNS system, an interactive LISP-based environment for the integration and setting up of Flexible Assembly Cells. Programming, debugging, parallelism managing and interaction with decision processes are carried out in the same environment. NNS provides a suitable framework for the design of highly adaptative robotics systems and their use in the experiment of complex manipulation tasks.