RIPE: An object-oriented Robot Independent Programming Environment
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 Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Organization:
- DOE/DP
- DOE Contract Number:
- AC04-76DP00789
- OSTI ID:
- 7129026
- Report Number(s):
- SAND-90-0052C; CONF-9004148-1; ON: DE90008501
- Resource Relation:
- Conference: USENIX C++ conference, San Francisco, CA (USA), 9-11 Apr 1990
- Country of Publication:
- United States
- Language:
- English
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DISTRIBUTED DATA PROCESSING
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CONTROL SYSTEMS
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