An object-oriented environment for robot system architectures

Conference · Sun Jan 01 04:00:00 EST 1989

DOI:https://doi.org/10.1109/ROBOT.1990.126001· OSTI ID:7249122

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. 22 refs., 8 figs.

• Research Organization: Sandia National Labs., Albuquerque, NM (USA)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 7249122
• Report Number(s): SAND-89-2494C; CONF-900559--11; ON: DE90008311
• Country of Publication: United States
• Language: English

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ALGORITHMS
COMMUNICATIONS
COMPUTER ARCHITECTURE
COMPUTER GRAPHICS
COMPUTER OUTPUT DEVICES
COMPUTER-GRAPHICS DEVICES
COMPUTERIZED CONTROL SYSTEMS
CONTROL SYSTEMS
COST
DATA BASE MANAGEMENT
DATA PROCESSING
DESIGN
DISPLAY DEVICES
EQUIPMENT
HOT CELLS
IMAGE PROCESSING
IMPLEMENTATION
LABORATORY EQUIPMENT
MAN-MACHINE SYSTEMS
MANAGEMENT
MANIPULATORS
MATERIALS HANDLING
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
MONITORING
PERFORMANCE TESTING
PLANNING
PROCESSING
REAL TIME SYSTEMS
RELIABILITY
REMOTE HANDLING EQUIPMENT
REMOTE SENSING
ROBOTS
STRUCTURAL MODELS
TASK SCHEDULING
TESTING
THREE-DIMENSIONAL CALCULATIONS
USES