CAD Based Programming for Sensory Robots: Proceedings of the NATO Advanced Research Workshop on CAD Based Programming for Sensory Robots Held in Il Ci

ISBN-13: 9783642836275 / Angielski / Miękka / 2012 / 565 str.

Bahram Ravani

Opis

This book consists of a collection of works dealing with CAD based robot programming. This is the process where CAD (computer based) models are used for task planning and the development of robot programs. If the program is generated by a programmer interacting with a CAD display of the robot and its workcell environment, the process is called off-line or interactive programming. On the other hand, if the robot program is generated automatically by the computer, then the process is referred to as automatic robot programming. This book is unique in that it focuses on the use of CAD models both for interactive and automatic robot programming. It brings together representative works from the experts from various disciplines in Engineering and Computer Science working around the world in this area. The subjects discussed in this book cut across several disciplines including CAD/CAM and geometric modeling, robot programming, artificial intelligence, sensory processing and kinematic and dynamic modeling. This book is of special interest to researchers, students and practitioners involved with programming of robot manipulators. It provides them with a comprehensive coverage of the important issues and the representative works in the field.

Spis treści

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 Robot Programming.- 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.