An Expert Supervisor For A Robotic Work Cell

M. C. Moed; R. B. Kelley

doi:10.1117/12.942793

19 February 1988 An Expert Supervisor For A Robotic Work Cell

M. C. Moed, R. B. Kelley

Proceedings Volume 0848, Intelligent Robots and Computer Vision VI; (1988) https://doi.org/10.1117/12.942793
Event: Advances in Intelligent Robotics Systems, 1987, Cambridge, CA, United States

Abstract

To increase task flexibility in a robotic assembly environment, a hierarchical planning and execution system is being developed which will map user specified 3D part assembly tasks into various target robotic work cells, and execute these tasks efficiently using manipulators and sensors available in the work cell. One level of this hierarchy, the Supervisor, is responsible for assigning subtasks of a system generated Task Plan to a set of task specific Specialists and on-line coordination of the activity of these Specialists to accomplish the user specified assembly. The design of the Supervisor can be broken down into five major functional blocks: resource management; concurrency detection; task scheduling; error recovery; and interprocess communication. The Supervisor implementation has been completed on a VAX 11/750 under a Unix environment. PC card Pick-Insert experiments were performed to test this implementation. To test the robustness of the architecture, the Supervisor was then transported to a new work cell under a VMS environment. The experiments performed under Supervisor control in both implementations are discussed after a brief explanation of the functional blocks of the Supervisor and the other levels in the hierarchy.

Citation Download Citation

M. C. Moed and R. B. Kelley "An Expert Supervisor For A Robotic Work Cell", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); https://doi.org/10.1117/12.942793

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