• The ability to move physical objects in the
field of work, i.e. the ability to manipulate.
• The ability to obtain information about
the state of the system and the scope of
work, i.e. sensory skill.
• The abilityto explod information to
modify the behavior of the system on a
scheduled basis, i.e. the intelligent behavior
skill.
• The ability to store, elaborate and provide
data on system activity, i.e. the ability to
process data.
6.4.- Robot programming.
The biggest advantage in the application of
industrial robots is their flexibility, their
reprogramming ability for new productions
and their great range of movements.
However, a major obstacle in the use of
manipulators as universal assembly machines is
the lack of adequate and efficient
communication between the user and the robotic
stheme, so that the user can directthe
manipulator to perform a certain task. The
use of the flexibility of the robot
presupposes effective programming. The
particular system of movements and other
actions that have to be used in order to
accomplish their task. There are several
ways to program industrial robots, namely
online and offline. Dand computation that
joinsthe manipulator has to be programmed
to teach the robot the sequence
6.5.- The hardware architecture.
The hierarchical structure of the functional
architecture that isdoped as a reference model
for the control system of an industrial
robot, together with its articulation in
different modules, suggests an
implementation of hardware that drives
distributed computational resources
interconnected through appropriate communication
channels. For this purpose, it is worth
remembering that the functions
implemented in the current control systems take
into account the three levels from the servo to the
accion, which completely limit the
development of the functionsare
implemented at the level of action.