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A structured geometric database in an off-line robot programming system

Published online by Cambridge University Press:  09 March 2009

L. Van Aken  and
H. Van Brussel
L. Van Aken
Affiliation:
Mechanical Engineering Department, Katholieke Universiteit Leuven, Leuven, (Belgium)
H. Van Brussel
Affiliation:
Mechanical Engineering Department, Katholieke Universiteit Leuven, Leuven, (Belgium)
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Summary

This work describes a hierarchically structured geometric database in an off-line robot programming system. The data structure contains the numerical definition of the frame variables, as well as an indicator of the respective reference frames. Moreover, the physical relations between the objects in the environment are included. The database is implemented such that it continuously reflects the actual structure of the environment. As a result, all calculations of the frame locations are carried out automatically. Moreover, the programming system is capable to autonomously updating the numerical information after changes in the environment. Making this database the heart of a robot programming system greatly simplifies the off-line programming of complex robot tasks, like f.i. assembly tasks.

Keywords

Off-line ProgrammingGeometric DatabaseRobot System
Type
Article
Information
Robotica , Volume 5 , Issue 4 , October 1987 , pp. 333 - 339
Copyright
Copyright © Cambridge University Press 1987

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References

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