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Proceedings Paper

RIPE: a robot independent programming environment
Author(s): David J. Miller; R. Charleene Lennox
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Paper Abstract

An object-oriented robot independent programming environment (RIPE) developed at Sandia National Laboratories is being used for rapid design and implementation of a variety of intelligent machine applications. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models work cell tasks as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, and robust communication. The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility, reliability, and portability. By designing a hierarchy of generic parent classes and device-specific subclasses which inherit the same interface, a robot independent programming language (RIPL) is realized. Prototype systems for handling nuclear waste shipping casks, underground storage tank cleanup, nuclear weapons disassembly, and glove box access are successfully implemented using this object-oriented software environment.

Paper Details

Date Published: 1 February 1992
PDF: 12 pages
Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); doi: 10.1117/12.57088
Show Author Affiliations
David J. Miller, Sandia National Labs. (United States)
R. Charleene Lennox, Sandia National Labs. (United States)

Published in SPIE Proceedings Vol. 1607:
Intelligent Robots and Computer Vision X: Algorithms and Techniques
David P. Casasent, Editor(s)

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