1A1-G15 A simple architecture for a robot controller

Abstract

We have proposed an robot controller architecture to easily build up a robot controller. The controller has 7 agents and 3 databases. The agents are Man-Machine Interface, Task Planner, Motion Planner, Arm Controller, Tool Controller, Visual System and CG Display. The databases are Task Knowledge Database, Environment Database and Robot Database. We are developing software of agent like Open GL. We think that if we use thins Architecture, we can make a robot easily. This paper show work plan as sample of A Robot Controller Architecture and Pick And Place.