Data Structures and Procedures for Computer Representation of Robot Cells
Several programming packages used for research, design, and application in robotics require some capability for computer modelling and representation of different aspects of robots, robot cells and other cell components. In the paper we discuss the requirements and characteristics of such computer representation systems. Then we describe a programming system for robot cell modelling and simulation that we designed primarily for research purposes. We give the overview of the global structure of the system, of its modelling procedures and data structures.
KeywordsKinematic Chain Industrial Robot Robot Modelling Cell Layout Robot Programming
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