Control of a manufacturing cell using a generic layered architecture

This paper describes an implementation of a control system for an experimental two-robot manufacturing cell. The implementation is based on a generic layered software architecture which supports both periodic and event-driven computations. The use of the layered software architecture as the framework for designing and implementing hybrid controllers contributes to the ease of system development and is therefore strongly advocated. In order to illustrate the approach some of the implementation details are also presented