Clearly, this is not an exhaustive list, but it illustrates the nature of the existing needs. At present it is not possible to replace components in a controller from one robot to another. The issue is not simply standardization, but architecture. It is our view that this problem cannot be solved without fundamental research into theoretical models of sensors and actuators. At present the precision and repeatability of manipulator positions is related to their overall dimensions.
Present systems are too slow and too difficult to calibrate.
It is our sense that this problem cannot be solved without new research ideas, that simple evolution from present strategies will not be sufficient. A related issue is the need to develop machine vision systems programmable directly from CAD models, so that the vision programs can be written before the physical parts are made. The solution may lie in novel forms of active damping. There is a need for research into fundamental issues in sensing, so that lower cost solutions can be developed. For example, inertial sensing or gyroscopes are too expensive.