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 journalArticlepeer-review

5 Scopus citations


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 languageEnglish
Pages (from-to)167-182
Number of pages16
JournalComputers in Industry
Issue number3
StatePublished - Nov 1987
Externally publishedYes


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


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