Robotics Software Systems
A robotics software "system" is defined here as one which allows robot users to program robot tasks in terms of key states of the task, instead of manipulator motions. It consists of two subsystems: a language system and a planning system. The language system involves the design of syntax and semantics of a robot programming language whereas the planning system determines specific manipulator movements for a given task defined in a task-level language. This paper describes the major components of a robotics software system and reviews principal research findings in the related aspects including programming languages, manipulator and world modelings, motion planning, and graphic simulation. Underlying research issues are addressed at the end.
M. Leu, "Robotics Software Systems," Robotics and Computer-Integrated Manufacturing, Elsevier, Jan 1985.
The definitive version is available at http://dx.doi.org/10.1016/0736-5845(85)90002-X
Mechanical and Aerospace Engineering
Article - Journal
© 1985 Elsevier, All rights reserved.