A Five-layers Open-architecture Robot Controller Applied to Interaction Tasks

This work proposes a new reference model for a control system functional architecture applied to open-architecture robot controller. Where, this proposal is applied for development of an five-layers based open-architecture robotic controller for interaction tasks, which uses parallel and distributed processing techniques, and avoids the necessity of compliance in system, allowing a real-time processing of the application and the total control of information for old industrial robot retrofitting. This architecture provides flexibility, the knowledge of all the control structures and allows the user to modify all controller layers. The used controller conception aims to fulfill with the following requirements: high capacity of processing, low cost, connectivity with other systems, availability for the remote access, easiness of maintenance, flexibility in the implementation, integration with a personal computer and programming in high level.