A conceptual structure for a robot station programming system

Task level programming systems previously proposed by several authors are briefly discussed and another approach is also offered.

The possibilities of integration of components such as vision and tactile modules, cad systems, robot simulators, specialized planners, etc., are analysed. This should help us to understand their interrelations and limitations when their integration in a system is attempted. The notion of robot station, rather than a mere manipulator, will be kept in view.

The conceptual structure presented has two phases:

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  - off-line: automatic plan generation (implicit programming) and plan testing (in simulated execution)

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  - on-line: execution supervision with sensorial feedback and local planning capability.

The usual limitations of an off-line approach are analyzed and a more active role of simulation of the whole station is suggested, specially in what concerns a comprehensive sensorial simulation, allowing moving to this phase most verifications, previously mandatory on the on-line phase. This should allow a more realistic plan generation and, eventually, interactive planning (with better debugging tools).

In the on-line stage, emphasis is placed on the relationship between execution supervision and sensorial feedback. One suggestion of automatic plan repair, valid for any of the phases is also presented.