Hierarchical architecture for multi-sensor robot cell operation

The authors describe a hierarchical architecture designed to carry out experiments in multisensor integration and sensor-based control in robotics. The hierarchical model is composed of three major levels: a high-level information processing and planning structure at the top, a logic-branching control structure at the intermediate level, and a real-time continuous sensory feedback loop at the bottom level. The two lower control structures are addressed. The principal submodules of the intermediate structure are described, with particular emphasis on communication issues and on the available software mechanisms for configuration and online maintenance of the robot cell. The architecture of the real-time continuous control structure that composes the bottom level is also described. The application of the adaptive self-tuning scheme in controlling position and force, specified in task-space coordinates, is discussed. Practical issues and experimental results are summarized