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An object-oriented environment for robot system architectures

By: Miller, D.J.; Lennox, R.C.;

1990 / IEEE / 0-8186-9061-5

Description

This item was taken from the IEEE Periodical ' An object-oriented environment for robot system architectures ' The object-oriented Robot Independent Programming Environment (RIPE) is described. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, and robust communication. The object-oriented paradigm provides mechanisms such as inheritance and polymorphism which allow the implementation of the system to satisfy the goals of software reusability, extensibility, reliability, and portability. By designing a hierarchy of generic parent classes and device-specific subclasses which inherit the same interface, the Robot Independent Programming Language (RIPL) is realized. Work cell tasks demonstrating robotic cask-handling operations for nuclear waste facilities are successfully implemented using this object-oriented software environment.<>