Abstract
A generic architecture for a new robot off-line programming and simulation system, ROPSIM, has been synthesized. The generic architecture is based upon the open systems concept and identifies the robot program interface, the necessary robot system models, simulation algorithms, and their interconnections. Neutral interfaces, based on the proposals ISO STEP and ISO ICR, allow for the exchange of robot models and robot program models with other systems making ROPSIM a true CIME subsystem. A simulation in ROPSIM includes the total robot system, i.e. the manipulator geometry and kinetics and the robot controller.
As an example a simulation of a hydraulic two link test robot, driven by a STEP model and an ICR program, is presented and compared with experimental results.
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© 1994 Springer Science+Business Media Dordrecht
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Trostmann, E., Nielsen, L.F., Trostmann, S., Conrad, F. (1994). A Generic Architecture with Neutralinterfacfs for Off-Line Robot Programming and Simulation. In: Nof, S.Y. (eds) Information and Collaboration Models of Integration. NATO ASI Series, vol 259. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-1132-4_23
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DOI: https://doi.org/10.1007/978-94-011-1132-4_23
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