A Real-Time, Hierarchical, Sensor-Based Robotic System Architecture

A robotic system architecture is presented and its real-time performance, when used to control a robotic gripper system for deformation-free handling of limp material, is evaluated. A major problem to be overcome has been the integrability and compatibility issues between various components of the developed system. The software and hardware protocols and interfaces developed to control and coordinate the subsystem operations and interactions are presented. The performance of the developed real-time, hierarchical, sensor-based robotic system architecture is found to meet and satisfy a set of system operational constraints and demands as dictated by the industry.