Abstract
A robotic system architecture is presented and its real-time performance, when used to control a robotic gripper system for deformation-free handling of limp material, is evaluated. A major problem to be overcome has been the integrability and compatibility issues between various components of the developed system. The software and hardware protocols and interfaces developed to control and coordinate the subsystem operations and interactions are presented. The performance of the developed real-time, hierarchical, sensor-based robotic system architecture is found to meet and satisfy a set of system operational constraints and demands as dictated by the industry.
Similar content being viewed by others
References
Abidi, M. A. and Gonzalez, R. C.: Data Fusion in Robotics and Machine Intelligence, Boston, 1992.
Allen, P. K.: A Framework for Implementing Multisensor Robotic Tasks, in: Proceedings for the ASME International Computers in Engineering Conference and Exhibition, New York, NY, 1987, pp. 303–309.
Asada, H. and Youcef-Toumi, K.: Direct-Drive Robots: Theory and Practice, Cambridge, Mass., 1987.
Biggers, K. B. et al.: Low Level Control of the Utah/MIT Dexterous Hand, in: IEEE International Conference on Robotics and Automation (1986), pp. 61–66.
Clark, J. and Ferrier, N.: Control of Visual Attention in Mobile Robots, in: Proceedings for the 1989 IEEE International Conference on Robotics and Automation (1989), pp. 826–831.
Czarnecki, C.: Automated Stripping: A Robotic Handling Cell for Garment Manufacture, in: IEEE Robotics & Automation Magazine 2(2) (1995), pp. 4–8.
Fu, K. S., Gonzalez, R. C., and Lee, C. S. G.: Robotics: Control, Sensing, Vision, and Intelligence, New York, 1987.
Hebert, T.: Sensor Based Control of a Robotic Gripper, M.Sc. Thesis, University of Southwestern Louisiana, 1996.
Jacobsen, S. C. et al.: Design of the Utah/MIT Dexterous Hand, in: IEEE International Conference on Robotics and Automation (1986), pp. 1520–1532.
Jacobsen, S. C. et al.: Development of the Utah Artificial Arm, IEEE Transactions on Biomedical Engineering 2(1) (1982), pp. 464–481.
Kolluru, R.: Modeling, Design, Prototyping and Performance Evaluation of a Robotic Gripper System for Automated Limp Material Handling, Ph.D. Dissertation, University of Southwestern Louisiana, 1996.
Kolluru, Valavanis, Hebert, Steward, Sonnier: Design of a Robotics Gripper System for an Automated Deformable Material Manipulator, in: Proceedings of the Sixth International Symposium on Robotics and Manufacturing, Montpelier, France, 1996.
Kolluru, Valavanis, Steward, Sonnier: A Flat-Surface Robotic Gripper for Handling Limp Material, in: IEEE Robotics and Automation Magazine 2(3) (1995), pp. 19–25.
Kolluru, Valavanis, Steward, Sonnier: A Sensor-Based Robotic Gripper for Limp Material Handling, in: Third IEEE Mediterranean Symposium on New Directions in Control and Automation (11–13 July1995), pp. 68–76.
Luo, R. C., Lin, M., and Scherp, R. S.: The Issues and Approaches of a Robot Multisensor Integration, in: Proceedings of the IEEE International Conference on Robotics and Automation (1987), pp. 1941–1946.
Mason, M. and Salisbury, K. J. Jr.: Robot Hands and the Mechanics of Manipulation, Cambridge, Mass., 1985.
Priebe, C. E. and Marchette, D. J.: Temporal Pattern Recognition: A Network Architecture for Multisensor Fusion, Proc. SPIE, Intelligent Robots and Computer Vision: Seventh in a Series, Cambridge, Mass., 1988.
Rodger, J. C. and Browse, R. A.: An Object-Based Representation for Multisensory Robotic Perception, in: Proc. for the Workshop on Spatial Reasoning and Multisensor Fusion, St. Charles, Illinois, 1987, pp. 13–20. INT1377.tex; 21/11/1997; 15:33; v.7; p.26
Ruokangas, Black, Martin, Schoenwald: Integration of Multiple Sensors to Provide Flexible Control Strategies, in: Proceedings of the 1986 IEEE International Conference on Robotics and Automation (1986), pp. 1947–1953.
Salisbury, J. and Craig, J.: Articulated Hands: Force Control and Kinematic issues, in: International Journal of Robotics Research, ed. G. Saridis 1(1) (Spring 1982), pp. 25–36.
Schilling, R. J.: Fundamentals of Robotics: Analysis and Control, Englewood Cliffs, NJ, 1990.
Valavanis, K. P. and Saridis, G. N.: Intelligent Robotics Systems: Theory, Design and Applications, Boston, 1992. JINT1377.tex; 21/11/1997; 15:33; v.7; p.27
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Hebert, T., Valavanis, K. & Kolluru, R. A Real-Time, Hierarchical, Sensor-Based Robotic System Architecture. Journal of Intelligent and Robotic Systems 21, 1–27 (1998). https://doi.org/10.1023/A:1007966024367
Issue Date:
DOI: https://doi.org/10.1023/A:1007966024367