Information flow between a workstation controller and its robotic sub-system

Kerry L. Elkins; Oded Z. Maimon

doi:10.1016/0166-3615(87)90036-4

Information flow between a workstation controller and its robotic sub-system

Kerry L. Elkins^*, Oded Z. Maimon

^*Corresponding author for this work

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

An analysis of information flow in a generalized machining workstation is presented. This includes the development of task-level commands by the workstation controller and the flow and interpretation of data through the workstation to the robot controller. The initial part of this work includes the development of a control scheme for an automated small-batch machining workstation. The data and physical interfaces are defined as well as the functional description. Based on this work, a modular, hierarchical control scheme is developed. A robotic sub-system model and command decomposition is then developed, and the information required for a task-planning robot function is analyzed.

Original language	English
Pages (from-to)	167-182
Number of pages	16
Journal	Computers in Industry
Volume	9
Issue number	3
DOIs	https://doi.org/10.1016/0166-3615(87)90036-4
State	Published - Nov 1987
Externally published	Yes

Keywords

FMS
Hierarchical control
Small batch manufacturing
Systems Integration
Task-planning robot model
Workstation controller

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1016/0166-3615(87)90036-4

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abstract = "An analysis of information flow in a generalized machining workstation is presented. This includes the development of task-level commands by the workstation controller and the flow and interpretation of data through the workstation to the robot controller. The initial part of this work includes the development of a control scheme for an automated small-batch machining workstation. The data and physical interfaces are defined as well as the functional description. Based on this work, a modular, hierarchical control scheme is developed. A robotic sub-system model and command decomposition is then developed, and the information required for a task-planning robot function is analyzed.",

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AB - An analysis of information flow in a generalized machining workstation is presented. This includes the development of task-level commands by the workstation controller and the flow and interpretation of data through the workstation to the robot controller. The initial part of this work includes the development of a control scheme for an automated small-batch machining workstation. The data and physical interfaces are defined as well as the functional description. Based on this work, a modular, hierarchical control scheme is developed. A robotic sub-system model and command decomposition is then developed, and the information required for a task-planning robot function is analyzed.

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KW - Hierarchical control

KW - Small batch manufacturing

KW - Systems Integration

KW - Task-planning robot model

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Information flow between a workstation controller and its robotic sub-system

Abstract

Keywords

UN SDGs

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