Title

Robotics Software Systems

Abstract

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.

Department(s)

Mechanical and Aerospace Engineering

Document Type

Article - Journal

Document Version

Citation

File Type

text

Language(s)

English

Rights

© 1985 Elsevier, All rights reserved.


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