Design of custom robotics using standard components and subsystems

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Based on the published literature most of theoretical work in robotics has been and is continuing to be focused on robotic arms and end effectors, often embedded in automatic cells, more recently also mounted on mobile platforms. Most published research addresses robot arms and related generic issues of technology: mechanical structure, electronics (computer architecture), and software (control). By-and-large this research does not benefit from the substantial technology of components and subsystems that are available commercially. The outcome is that the research results are not suited and constrained to fit the available means of implementation (components and subsystems). Furthermore they do not lead to effective system integration of a growing number of robotic applications that are not built around standard robotic arms. This category is growing evidentially as applications in medical, service, military, etc. begun to form the larger portion of new robotic systems. Therefore, there is an issue with the usefulness of current research in terms of providing support for effective integration of new applications. It is detached form the available components and subsystems, and it focuses mainly on robotic arms. The long-term objective of this research program is to bridge this gap. At the core of the proposed work is a new system design paradigm and the related hypotheses. Based on the new paradigm any new robotic-based system application can be researched and developed based on custom concepts, and can be implemented with standard components and subsystems. The main hypothesis is that for any new application the current availability of advanced components and subsystems is such that almost any design requirement can be met. This paradigm provides opportunities for research and development at system level as well as incentives and ideas for components and subsystems developers. The applicant has selected to direct his research to system development. The main focus is to establish a methodology for reliable and economical design of robotic-based systems.