A Task Level Control and Simulation System for Interactive Robotics

Abstract A very flexible control scheme based on man-robot interaction has been introduced. The robot control system with a high level command language utilizes environment modelling and task-oriented control method. Robust environment modelling is done by the user by describing with a special 3D-measuring device necessary features of the real environment. Tasks are defined and programmed on-line at the working environment and the user can supervise the robot immediately during task execution if necessary. By using sensor technology and appropriate signs the model based control is adapted to the real environment. The paper describes a microcomputer based control system and microrobot based workcell with some programming examples.