RIPE (robot independent programming environment): A robot independent programming environment

Conference · Fri Jun 01 00:00:00 EDT 1990 · Transactions of the American Nuclear Society; (USA)

OSTI ID:6378188

Miller, D J; Lennox, R C ^[1]

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1. Sandia National Lab., Albuquerque, NM (USA)

Remote manual operations in radiation environments are typically performed very slowly. Sensor-based computer-controlled robots hold great promise for increasing the speed and safety of remote operations; however, the programming of robotic systems has proven to be expensive and difficult. Generalized approaches to robot programming that reuse available software modules and employ programming languages which are independent of the specific robotic and sensory devices being used are needed to speed software development and increase overall system reliability. This paper discusses the robot independent programming environment (RIPE) developed at Sandia National Laboratories (SNL). The RIPE is an object-oriented approach to robot system architectures; it is a software environment that facilitates rapid design and implementation of complex robot systems for diverse applications. An architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models applications using software objects. These objects are designed to support model-based automated programming of robotic and machining devices, real-time sensor-based control, error handling, and robust communication.

• OSTI ID: 6378188
• Report Number(s): CONF-900608-; CODEN: TANSA; TRN: 91-008237
• Journal Information: Transactions of the American Nuclear Society; (USA), Vol. 61; Conference: American Nuclear Society (ANS) annual meeting, Nashville, TN (USA), 10-14 Jun 1990; ISSN 0003-018X
• Country of Publication: United States
• Language: English

Related Subjects

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
NUCLEAR FACILITIES
REMEDIAL ACTION
ROBOTS
COMPUTERIZED CONTROL SYSTEMS
US DOE
AUTOMATION
COMPUTER ARCHITECTURE
EFFICIENCY
PERFORMANCE
PERFORMANCE TESTING
PROGRAMMING
RADIATION PROTECTION
RELIABILITY
REMOTE HANDLING
REMOTE SENSING
SANDIA LABORATORIES
USES
CONTROL SYSTEMS
NATIONAL ORGANIZATIONS
TESTING
US AEC
US ERDA
US ORGANIZATIONS
054000* - Nuclear Fuels- Health & Safety
420203 - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers