🔗 Creating Viable Subsystems

A viable subsystem is one that can perform a complete, useful task. It is created by combining the right sensor, actuator, and end effector together with software control.

📰 Case Study: Amazon Robotics Warehouse

Amazon's fulfilment centres combine multiple subsystems into one workspace. Kiva drive robots (2 DOF — forward/back + rotate) carry shelving units to human workers. Sparrow pick-and-place arms (6 DOF) use cameras and vacuum grippers to sort items. A conveyor subsystem moves packages between stations. Each subsystem operates independently but is coordinated by a central software controller that manages dependencies: the arm cannot pick until the shelf arrives, the conveyor cannot start until the arm has placed the item. This is dependency management — a key role of the software.