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CAD Based Programming for Sensory Robots

Proceedings of the NATO Advanced Research Workshop on CAD Based Programming for Sensory Robots held in Il Ciocco, Italy, July 4-6, 1988

  • Conference proceedings
  • © 1988

Overview

Editors:
  1. Bahram Ravani

    1. Department of Mechanical Engineering, University of California, Davis, USA

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Part of the book series: NATO ASI Subseries F: (NATO ASI F, volume 50)

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Table of contents (26 papers)

  1. Front Matter

    Pages I-IX
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  2. CAD Based Modeling

    1. Front Matter

      Pages 1-1
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    2. Solid Modelling — A 1988 Update

      • Aristides A. G. Requicha
      Pages 3-22

    3. A Geometric Modeler for an Automatic Robot Programming System

      • Pascal Theveneau, Michel Pasquier
      Pages 23-39

    4. A Relational Data Base Supporting CAD-Oriented Robot Programming

      • R. Dillmann, M. Huck
      Pages 41-65

    5. World Modeling for CAD Based Robot Programming and Simulation

      • Bahram Ravani
      Pages 67-89

    6. A Workcell Application Design Environment (WADE)

      • Rangarajan Jayaraman, Anthony Levas
      Pages 91-120

  3. Task Specification and Programming Systems

    1. Front Matter

      Pages 121-121
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    2. Simplification of a Robot Task Specification by Incorporating a Structured Geometric Database into an Off-Line Robot Programming System

      • L. Van Aken, H. Van Brussel, J. De Schutter
      Pages 123-150

    3. Planning Robot Motions in the SHARP System

      • Christian Laugier
      Pages 151-187

    4. Robot Simulation and Off-Line Programming — An Integrated CAE-CAD Approach

      • I. Imam, J. E. Davis
      Pages 189-201

    5. CAD-Based Verification and Refinement of High Level Compliant Motion Primitives

      • J. De Schutter, P. Simkens
      Pages 203-222

    6. Experiences with Off-Line Robot Programming via Standardized Interfaces

      • M. Weck, R. Clemens
      Pages 223-234

    7. Off-Line Programming of Robots Using a 3D Graphical Simulation System

      • K. Young, J. Bennaton
      Pages 235-252

  4. Sensor Based Planning and Programming

    1. Front Matter

      Pages 253-253
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    2. Integrating Planning and Execution for Sensor-Based Robots

      • Maria Gini
      Pages 255-274

    3. CAD-Based Computer Vision: The Automatic Generation of Recognition Strategies

      • Charles Hansen, Thomas Henderson
      Pages 275-298

    4. Model-Based Integration of Environment Description and Task Execution

      • Tsutomu Hasegawa, Takashi Suehiro, Tsukasa Ogasawara
      Pages 299-311

    5. Sensor-Based Modification of Local Models for Robotic Manipulation

      • Harvey Lipkin
      Pages 313-332

  5. Integration of AI and Path Planning

    1. Front Matter

      Pages 333-333
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Keywords

About this book

This book contains 26 papers presented at the NATO Advanced Research Workshop on "CAD Based Programming for Sensory Robots," held in IL CIOCCa, Italy, July 4-6, 1988. CAD based robot programming is considered to be the process where CAD (Computer Based) models are used to develop robot programs. If the program is generated, at least partially, by a programmer interacting, for example, with a computer graph i c d sp i 1 ay of the robot and its workce 11 env ironment, the process is referred to as graphical off-line programming. On the other hand, if the robot program is generated automatically, for example, by a computer, then the process is referred to as automatic robot programmi ng. The key element here is the use of CAD models both for interact i ve and automat i c generat i on of robot programs. CAD based programmi ng, therefore, bri ngs together computer based model i ng and robot programmi ng and as such cuts across several discipl ines including geometric model ing, robot programming, kinematic and dynamic modeling, artificial intelligence, sensory monitoring and so-on.

Editors and Affiliations

  • Department of Mechanical Engineering, University of California, Davis, USA

    Bahram Ravani

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