Exception handling in robotics

Author

Cox, Ingemar J. ; Gehani, Narain H.

Author_Institution

AT&T Bell Lab., Murray Hill, NJ, USA

Volume

22

Issue

3

fYear

1989

fDate

3/1/1989 12:00:00 AM

Firstpage

43

Lastpage

49

Abstract

The construction of robust and reliable robot systems able to handle errors arising from abnormal operating conditions is addressed. It is assumed that the robot program is logically correct but fails due to hardware or external state errors. The error-handling technique called exception handling is treated. The type of errors that can occur in a robot system and their error-handling requirements are described, and approaches to error handling and recovery are reviewed. Exception-handling facilities in Ada and AML/X are mentioned, and Exceptional C, the language chosen for exposition, is described. The use of exception-handling facilities is illustrated with two examples.<>

Keywords

robot programming; AML/X; Ada; Exceptional C; abnormal operating conditions; error recovery; error-handling technique; exception handling; external state errors; hardware errors; reliable robot systems; robot program; robotics; robust; Application software; Computer errors; Computer interfaces; Databases; Error correction; Fault tolerant systems; Hardware; Orbital robotics; Robot programming; Robustness;

fLanguage

English

Journal_Title

Computer

Publisher

ieee

ISSN

0018-9162

Type

jour

DOI

10.1109/2.16224

Filename

16224