Robotic control using sequential function charts
Joany Jackman · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1996
Sequential function charts have been sued to specify control programs for programmable logic controllers. We show how these charts can be used for robotic control using a hierarchical control structure. A process is defined as a set of tasks and for each task a set of actions. Tasks and actions can be executed in serial and parallel with one or more programmable devices. Sequential function charts can provide a device independent method for specifying control programs for robotics systems.