Design of an intelligent robotic system using microprocessor based configuration and logic design techniques

An architectural model is proposed for intelligent robotic systems (IRSs). Specific hardware mechanisms are described for the organization and coordination levels using microprocessor-based and discrete logic design techniques. The overall system is modeled as a loosely coupled parallel distributed processing system which is shown to preserve the hierarchical structure and the principle of increasing intelligence with decreasing precision. Modifications can be performed within one or more of the subsystems without violation of the overall system structure. In addition, the scheme provides flexibility, incorporating functionality for various application domains without modifications of the configuration of the overall IRS. Intensive calculations are distributed among different parts of the machine, resulting in higher performance