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23 May 1983 Hardware/Software Transparency In Robotics Through Object Level Design
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This paper examines some computational issues in robotics. The concept of a robot-based manufacturing cell is outlined by viewing its behavior at three levels: machine level, cell integration level, and integration with higher level functions. Computational requirements associated with the first two of these three levels are discussed, and the need for very high computation rates at the machine level of a manufacturing cell, particularly for the real-time control of a robot arm and for robot vision is pointed out. The paper also explains the need to be able to manage multiple processes at the cell integration level. A unified solution to these computational needs which requires that the computation structure used to control and manage a manufacturing cell be designed as an object-based computer architecture is then proposed. The hardware /software boundary in the implementation of the objects comprising the overall architecture is transparent from a logical viewpoint but not from a timing viewpoint. Real-time constraints are met by implementing time-critical process objects directly in hardware. This "object level" design provides the hardware /software transparency necessary to formulate a unified system specification for these real-time embedded computer systems. Timing considerations can then be used determine the hardware /software boundary.
© (1983) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
T. N. Mudge, R. A. Volz, and D. E. Atkins "Hardware/Software Transparency In Robotics Through Object Level Design", Proc. SPIE 0360, Robotics and Industrial Inspection, (23 May 1983);


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