CAD Based Programming for Sensory Robots

This book contains 26 papers presented at the NATO Advanced Research Workshop on "CAD Based Programming for Sensory Robots," held in IL CIOCCa, Italy, July 4-6, 1988. CAD based robot programming is considered to be the process where CAD (Computer Based) models are used to develop robot programs. If the program is generated, at least partially, by a programmer interacting, for example, with a computer graph i c d sp i 1 ay of the robot and its workce 11 env ironment, the process is referred to as graphical off-line programming. On the other hand, if the robot program is generated automatically, for example, by a computer, then the process is referred to as automatic robot programmi ng. The key element here is the use of CAD models both for interact i ve and automat i c generat i on of robot programs. CAD based programmi ng, therefore, bri ngs together computer based model i ng and robot programmi ng and as such cuts across several discipl ines including geometric model ing, robot programming, kinematic and dynamic modeling, artificial intelligence, sensory monitoring and so-on.

I - CAD Based Modeling.- Solid Modeling - A 1988 Update.- A Geometric Modeler for an Automatic Robot Programming System.- A Relational Data Base Supporting CAD-Oriented Robot Programming.- World Modeling for CAD Based Robot Programming and Simulation.- A Workcell Application Design Environment (WADE).- II - Task Specification and Programming Systems.- Simplification of a Robot Task Specification By Incorporating A Structured Geometric Database into an Off-Line Robot Programming System.- Planning Robot Motions in the SHARP System.- Robot Simulation and Off-Line Programming - An Integrated CAE-CAD Approach.- CAD-Based Verification and Refinement of High Level Compliant Motion Primitives.- Experiences with Off-Line Robot Programming via Standardized Interfaces.- Off-Line Programming of Robots Using a 3D Graphical Simulation System.- III - Sensor Based Planning and Programming.- Integrating Planning and Execution for Sensor-Based Robots.- CAD-Based Computer Vision: The Automatic Generation of Recognition Strategies.- Model-Based Integration of Environment Description and Task Execution.- Sensor-Based Modification of Local Models for Robotic Manipulation.- IV - Integration of Ai and Path Planning.- From CAD Models to Knowledge Bases.- Contact Formations and Design Constraints: A New Basis for the Automatic Generation of Robot Programs.- Geometric Reasoning for Grasping: A Computational Point of View.- Off-Line Programming and Path Generation for Robot Manipulators.- An Algorithm for CAD-Based Generation of Collision-Free Robot Paths.- Optimal Planning of Trajectories for Robots.- V - Emulation of Robot Mechanics and Applications.- Model Generation and Modification for Dynamic Systems from Geometric Data.- Modeling of Robot System Dynamics for CAD Based RobotProgramming.- A Geometric Database for the Oxford Autonomous Guided Vehicle.- Computer-Aided Application Program Synthesis for Industrial Robots.- CAD-Based Off-Line Programming Applied to a Cleaning and Deburring Workstation.