An object-oriented environment for robot system architectures

Conference · Sun Jan 01 00:00:00 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 Lab. (SNL-NM), Albuquerque, NM (United States)
• Sponsoring Organization: DOE/DP
• DOE Contract Number: AC04-76DP00789
• OSTI ID: 7249122
• Report Number(s): SAND-89-2494C; CONF-900559-11; ON: DE90008311
• Resource Relation: Conference: IEEE robotics and automation conference, Cincinnati, OH (USA), 13-18 May 1990
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
ROBOTS
COMPUTER ARCHITECTURE
ALGORITHMS
COMMUNICATIONS
COMPUTER GRAPHICS
COMPUTERIZED CONTROL SYSTEMS
COST
DATA BASE MANAGEMENT
DESIGN
DISPLAY DEVICES
HOT CELLS
IMAGE PROCESSING
IMPLEMENTATION
MAN-MACHINE SYSTEMS
MANIPULATORS
MATERIALS HANDLING
MONITORING
PERFORMANCE TESTING
PLANNING
REAL TIME SYSTEMS
RELIABILITY
REMOTE SENSING
STRUCTURAL MODELS
TASK SCHEDULING
THREE-DIMENSIONAL CALCULATIONS
USES
COMPUTER OUTPUT DEVICES
COMPUTER-GRAPHICS DEVICES
CONTROL SYSTEMS
DATA PROCESSING
EQUIPMENT
LABORATORY EQUIPMENT
MANAGEMENT
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
PROCESSING
REMOTE HANDLING EQUIPMENT
TESTING
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers
050900 - Nuclear Fuels- Transport
Handling
& Storage