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Information - Control

The overall control architecture of WorkPartner is illustrated in the figure. The architecture allows highly interactive operation between the user and the robot.

The user introduces tasks by the aid of a high level language (WoPa-language in the figure). The syntax of the language includes commands and objects that are related to the "presence" meaning in this case the physical environment, objects in it and their possible attributes. The objects can be either physical objects or targets for operations focusing to certain area of the physical world. The presence is modeled as an object database, which can be illustrated as a 2D map showing the objects in their positions. Objects are boxes of different size, which carry a nametag and list of content. The size of the box is related to the size of the object(s) it covers. The program called "manager" interprets the message of the user and plans the actions needed to execute the tasks. The output of the plan is a sequence of commands of an intermediate language which controls the actions of different subsystems of the robot [4]. The intermediate language consists of a set of commands, which are executed in a certain controllable way. They may utilize measurements from several sensors during execution. A different combination of these commands enables the robot to perform complex and simultaneous tasks with the platform and the manipulator.