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Proceedings Paper

An Environment For The Development Of Sensor-Based Robot Software
Author(s): Bruce Mack; Raymond Allard; Mohammed M. Bayoumi
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Paper Abstract

In present robot systems, much time and effort is expended in implementing, testing and evaluating sensor processing algorithms and control schemes. This tends to reduce creativity in prototype development and may discourage modernization as technology improves. Therefore, we have devised a "Robot Controller Test Station" (RCTS). RCTS is an environment for implementing, testing and comparing novel adaptive control and sensor processing algorithms. This environment integrates a dynamics simulator and a real robot into a distributed processing environment. Unlike other test stations, the RCTS design emphasizes flexibility, portability, ease of modification and ease of use. The software design of RCTS makes extensive use of standardized signal names, state tables and clearly bounded control and communication blocks. Therefore, new interfaces to hardware and processing routines can be easily integrated into RCTS. The robot control problem is modularized into three levels with control processing separated from sensor processing. This six module structure and the prioritized communication scheme was chosen to reduce the response time of the robot to sensor data. This paper discusses the implementation of the design of RCTS and discuss its advantages for integrating sensors into the distributed robot control environment.

Paper Details

Date Published: 27 March 1989
PDF: 10 pages
Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960307
Show Author Affiliations
Bruce Mack, Queen's University at Kingston (Canada)
Raymond Allard, Queen's University at Kingston (Canada)
Mohammed M. Bayoumi, Queen's University at Kingston (Canada)

Published in SPIE Proceedings Vol. 1002:
Intelligent Robots and Computer Vision VII
David P. Casasent, Editor(s)

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