Data Structures and Procedures for Computer Representation of Robot Cells

  • A. Ruzic
Conference paper
Part of the Schriftenreihe der Wissenschaftlichen Landesakademie für Niederösterreich book series (AKADNIEDERÖSTER)


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.


Kinematic Chain Industrial Robot Robot Modelling Cell Layout Robot Programming 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Backed, P., Hayati, S., Hayward, V., and Tso, K. (1989). The KALI multi-arm robot programming and control environment. Proc. NASA Conf. Space Telerobotics, Jan. 31-Feb. 2.Google Scholar
  2. Bonney, M.C. and Young, K.Y. (1987). Off-line programming using the GRASP robot simulation system. Second International Conference on Computer-Aided Production Engineering, pp. 67–70.Google Scholar
  3. Carter, S. (1987). Off-line programming: the state-of-the-art. The Industrial Robot, vol. 14, no. 4, pp. 213–215.CrossRefGoogle Scholar
  4. Ferrie, F., Hayward, V., and Dalziel, M. (1991). Experimental Robotics Research at McRCIM. R. botics and Automation, Newsletter of the IEEE R. & A. Society, September, vol. 5, no. 4, p. 13.Google Scholar
  5. Harrison, J.P. and Mahajan, R. (1986). The IGRIP approach to off-line programming and workcell design. Robotics Today, vol. 8, no. 4, pp. 25–26.Google Scholar
  6. Hayward, V. and Paul, R. (1986). Robot manipulator control under UNIX RCCL: A robot control ‘C’ library. Int. J. Robot. Res., Winter, vol. 5, pp. 94–111.CrossRefGoogle Scholar
  7. Hollingum, J. (1986) Robot simulation system comes to Britain. The Industrial Robot, Winter, vol. 17, no. 4, pp. 181–183.Google Scholar
  8. Levas, A. and Jayaraman, R. (1989). WADE: An Object-Oriented Environment for Modeling and Simulation of Workcell Applications. IEEE Transactions on Robotics and Automation, June, vol. 5, no. 3, pp. 324–336.CrossRefGoogle Scholar
  9. Lozano-Perez, T., Jones, J.L., Mazer, E., and O’Donnell, P.A. (1989). Task-Level Planning of Pick-and- Place Robot Motions. IEEE Comput., vol. 22, no. 3, pp. 21–29.CrossRefGoogle Scholar
  10. Miller, D.J. and Lennox, R.C. (1991). An Object-Oriented Environment for Robot System Architectures. IEEE Control Systems, February, vol. 11, no. 2, pp. 14–23.CrossRefGoogle Scholar
  11. Mortenson, M.E. (1985). Geometric Modeling, New York: John Wiley and Sons.Google Scholar
  12. Requicha, A.A.G. (1992). Representations for Rigid Solids: Theory, Methods, and Systems. Computing Surveys, vol. 12, no. 4, pp. 437–464.CrossRefGoogle Scholar
  13. Schneider, S. (1992). CAD/CAM Project. In Rembold, U. and Dillmann, R., Eds., Institute Report, Institute for Real-Time Computer Systems and Robotics, Faculty of Computer Science, University of Karlsruhe, Germany.Google Scholar

Copyright information

© Springer-Verlag/Wien 1994

Authors and Affiliations

  • A. Ruzic
    • 1
  1. 1.Robotics LaboratoryJozef Stefan InstituteLjubljanaSlovenia

Personalised recommendations