This paper describes work in progress on the implementation of a hierarchical sensory integration system f a controlling industrial robot manipulators working in unstructured environments. The hierarchical model is composed by three major levels, a high-level information processing and planning structure at the top level, a logic branching control structure at the intermediate level. and a real-time continuous sensory feedbxk loop at the bottom level of the hierarchy.This paper is mainly concerned with the bottom level of the control system.The main problems at this level lie in the design of compact smart sensors. in the design of appropriate distributed sensor networks (DSN) and in issues of control theory. Sensor modelling. hardware design and development d algorithms fa fast digital signal processing, rawdata adaptation. low-level fusion of sensory data. etc. are subjects to take into account at this integration level.In this paper. a DSN architecture, control algorithms for lask-space force and position control. and sensor modelling issues are addressed. Results of the application of the proposed methods in the control of a PUMA 560 robot manipulator are here presented.
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