知能ロボットプロトタイプcosmos
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概要
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This paper describes robot language and software constructs of total intelligent robot, that is designed and implemented as general purpose research tool for robot system studies. The system is called COSMOS which is an abbreviation of Congnitive Sensor Motor Operations Study. It consists of high level robot language, arm and its control system, three dimensional vision, sensitive tactile sensor, and user interfaces. A host minicomputer and microcomputers are connected with the GPIB bus, and they communicate using primitive robot commands. The system consists hierachical control structure, and has modularity and extensibility in both hardware and software. For convenience of future extensions toward artificial intelligence technique, major parts of the system are implemeted in Lisp. Description of this paper includes robot language AL/ L (Assembly Language in Lisp) and it's environment model manager, structure of integrated robot software, and programming through tablet menu. First, design principle is described. Then, the language syntax of AL/ L and construction of it's language processor is explained. We recognize that an environment model manager plays an important role in the compilation of manipulation programs written in robot language. Through our development of teaching programs, it became clear that tablet is a good teaching device, and the system is effective for robot programming. This paper also discusses technical problems for future study.
- 一般社団法人 日本ロボット学会の論文