Abstract
System development of modem CIM structures involves integration of different robot systems. This integration can be very difficult and time consuming The major problems involved in integrating new and existing robotics software applications result from differences in their hardware and software system, programming languages and differences in the applications themselves The purpose of the paper is to develop a design methodology for robot software that overcomes these problems. A multi-level software architecture is proposed, with well-defined functions at each level and a high degree of abstractization, thus allowing an almost complete transparency over specific hardware and software particularities.
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