Reuse of Industrial Robots

Kinematics of common industrial robots

An approach to finding the solution equations for simple manipulators is described which enhances the well known method of Paul, Renaud, and Stevenson, by explicitly making use of known decouplings in the manipulator kinematics. This reduces the set of acceptable equations from which we obtain relationships for the joint variables. For analyzing the Jacobian, such decoupling is also useful sinc...

The impacts of industrial robots

This report briefly describes robot technology and goes into more depth about where robots are used, and some of the anticipated social and economic impacts of their use. A number of short term transitional issues, including problems of potential displacement, are discussed. The ways in which robots may impact the economics of batch production are described. A framework for analyzing the impact...

Control technology for industrial robots

Knowledge for Intelligent Industrial Robots

This paper describes an attempt to provide more intelligence to industrial robotics and automation systems. We develop an architecture to integrate disparate knowledge representations used in different places in robotics and automation. This knowledge integration framework, a possibly distributed entity, abstracts the components used in design or production as data sources, and provides a unifo...

Software Reuse Metrics for an Industrial Project

In 1990 a project was established at AT&T to build applications that manage telephone systems. Since then the project has successfully completed over 20 applications comprising about 500,000 lines of source code. These systems are used daily by hundreds of managers and operators to monitor and provision the AT&T long distance telephone network. The project's success can be attributed directly t...