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Exception handling in robotics
March 1989 (vol. 22 no. 3)
pp. 43,44,45,46,47,48,49
The construction of robust and reliable robot systems able to handle errors arising from abnormal operating conditions is addressed. It is assumed that the robot program is logically correct but fails due to hardware or external state errors. The error-handling technique called exception handling is treated. The type of errors that can occur in a robot system and their error-handling requirements are described, and approaches to error handling and recovery are reviewed. Exception-handling facilities in Ada and AML/X are mentioned, and Exceptional C, the language chosen for exposition, is described. The use of exception-handling facilities is illustrated with two examples.<>
Index Terms:
robot programming,Exceptional C,hardware errors,error recovery,robotics,robust,reliable robot systems,abnormal operating conditions,robot program,external state errors,error-handling technique,exception handling,Ada,AML/X,Orbital robotics,Hardware,Fault tolerant systems,Error correction,Robustness,Robot programming,Application software,Databases,Computer interfaces,Computer errors
Citation:
"Exception handling in robotics," Computer, vol. 22, no. 3, pp. 43,44,45,46,47,48,49, March 1989, doi:10.1109/2.16224
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