Intelligent robotic control for remote chemical munitions disposal

The design of an intelligent robotic control system for material handling operations in a chemical munitions disposal process is described. Fundamental to the design is the maximal reliance on a relatively powerful supervisory minicomputer for implementation of control functions. This strategy allows rapid development of intelligent, computationally demanding control software capable of handling normal operation sequences and analyzing and correcting off-normal or error situations. Additionally, process integration and coordination problems are greatly simplified by providing centralized minicomputer access to all process sensory inputs and control devices