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Proceedings Paper

Raps: A Flexible Robot Programming Environment With Simulation Capabilities
Author(s): M. Interesse; A. Distante
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Paper Abstract

Nowadays industries need ever-increasing flexibility from automated systems, to dinamically adapt production to market requirements. In this paper a new programming environment, in the application field of factory automated cells, is presented. It allows the user to describe, at object level, the task to be performed into the work-cell and to specify the geometrical structure of manipulation objects, robots, sensors and other devices, which is stored into the Geometrical Data Base in a suitable format. This information is used by the run-time system to build up the virtual cell representation, which to check the task execution on. In this phase the user is supported by a symbolic debugger and a graphic simulator in verifying the full task efficiency. The whole software, divided into three main systems running at different times on a VAXSTATION-3200, was implemented in VAX-Pascal. At present, the environment is customized to perform tasks by means of a PUMA-560 industrial arm.

Paper Details

Date Published: 27 March 1989
PDF: 11 pages
Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960306
Show Author Affiliations
M. Interesse, Istituto Elaborazioni Segnali ed Immagini (Italy)
A. Distante, Istituto Elaborazioni Segnali ed Immagini (Italy)

Published in SPIE Proceedings Vol. 1002:
Intelligent Robots and Computer Vision VII
David P. Casasent, Editor(s)

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