A General Framework for Robot Programming Using a Matrix-based Supervisory Controller

Abstract

This research explored the realm of robot programming systems with the motive of developing a framework that requires minimum coding during the application phase. The thesis begins with a preamble to the matrix-based approach depicting its simplicity and its advancements as the research progresses.Given a decomposed task, the controller permits a user to program that task, in the appropriate sequence, using a primitive library by utilizing matrices. These matrices represent the structure and flow of the task with the added capability of coordinating multiple parallel tasks.To cater for mishaps, a validity check of the intended plan has also been developed allowing the matrix-based controller to determine its feasibility in terms of job sequencing and resource allocation.An overall robot programming framework that bridges the high-level planning and that of the physical execution has been proposed and developed.