Overview

This book contains 26 papers presented at the NATO Advanced Research Workshop on ""CAD Based Programming for Sensory Robots,"" held in IL CIOCCa, Italy, July 4-6, 1988. CAD based robot programming is considered to be the process where CAD (Computer Based) models are used to develop robot programs. If the program is generated, at least partially, by a programmer interacting, for example, with a computer graph i c d sp i 1 ay of the robot and its workce 11 env ironment, the process is referred to as graphical off-line programming. On the other hand, if the robot program is generated automatically, for example, by a computer, then the process is referred to as automatic robot programmi ng. The key element here is the use of CAD models both for interact i ve and automat i c generat i on of robot programs. CAD based programmi ng, therefore, bri ngs together computer based model i ng and robot programmi ng and as such cuts across several discipl ines including geometric model ing, robot programming, kinematic and dynamic modeling, artificial intelligence, sensory monitoring and so-on.

Full Product Details

Author:   Bahram Ravani
Publisher:   Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
Imprint:   Springer-Verlag Berlin and Heidelberg GmbH & Co. K
Edition:   Softcover reprint of the original 1st ed. 1988
Volume:   50
Dimensions:   Width: 17.00cm , Height: 2.90cm , Length: 24.40cm
Weight:   0.987kg
ISBN:  

9783642836275

ISBN 10:   3642836275
Pages:   565
Publication Date:   03 January 2012
Audience:   Professional and scholarly ,  Professional & Vocational
Format:   Paperback
Publisher's Status:   Active
Availability:   Manufactured on demand  
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Table of Contents

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 RobotProgramming.- 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.

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