R. Peter Bonasso
We have presented a methodology for determining the value added of a software module in the control system of a robot. This methodology stresses off-line analysis, test case observations and post test analysis based on the logic of the software design. Because of the complexity of determining why a robot system performs better or worse when an "intelligent" component is added or subtracted, this methodology also stresses examining the overall system behavior at the outset. In this manner, there is a good chance of seeing a clear improvement or non-improvement in system performance without requiring expensive instrumentation and empirical data acquisition.