RIPE: An object-oriented Robot Independent Programming Environment

Conference · Mon Jan 01 04:00:00 EST 1990

OSTI ID:7129026

Miller, D. J.; Lennox, R. C.

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 applications. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, 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. Work cell tasks demonstrating robotic cask handling operations for nuclear waste facilities are successfully implemented using this object-oriented software environment. 19 refs., 8 figs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 7129026
• Report Number(s): SAND-90-0052C; CONF-9004148--1; ON: DE90008501
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420200 -- Engineering-- Facilities
Equipment
& Techniques
99 GENERAL AND MISCELLANEOUS
990200* -- Mathematics & Computers
COMPUTER ARCHITECTURE
COMPUTER CODES
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
DATA PROCESSING
DISTRIBUTED DATA PROCESSING
PROCESSING
PROGRAMMING LANGUAGES
R CODES
ROBOTS