A CAD system for programming and simulating robots’ actions

  • E. Dombre
  • P. Borrel
  • A. Liegeois


This paper presents work currently in progress at LAMM and Dassault-Systèmes in the area of computer-aided design (CAD) of robots and of their environments. Several results of previous work concerning mathematical modelling of complex mechanisms have been implemented in CATIA* (computer aided design with a three-dimensional interactive system). So far, it is possible to build robot models and to visualize their motions on a graphic display, as well as to program trajectories and to control a process with the simulation results.


Kinematic Model Revolute Joint Joint Variable Prismatic Joint Geometrical Element 
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. 1.
    International Seminar of Programming Methods and Languages for Industrial Robots. Proceedings INRIA. Rocquencourt, France. June, 1979.Google Scholar
  2. 2.
    W. B. Heginbotham, M. Dooner, K. Case, “Rapid assessment of industrial robots’ performances by interactive computer graphics,” 9th International Symposium on Industrial Robots, Washington D.C., pp. 563–574, March, 1979.Google Scholar
  3. 3.
    B. I. Soroka, “Debugging robot programs with a simulator,” CADCAM-8 Conference, Anaheim, CA. November, 1980.Google Scholar
  4. 4.
    J. Meyer, “An emulation system for programmable sensory robots.” IBM J. Res. Develop. Vol. 25 (6), pp. 955–962, November, 1981.CrossRefGoogle Scholar
  5. 5.
    J. G. Queromes, “Computer Aided Design and Robotics: A Full of Promise Cooperation,” 12th Int. Symp. on Industrial Robots. Paris, France, pp. 185–195, June, 1982.Google Scholar
  6. 6.
    R. Paul, Robot Manipulators: Mathematics, Programming and Control; The Computer Control of Robot Manipulators. MIT Press, 1982.Google Scholar
  7. 7.
    A. Fournier, “Génération de mouvements en robotique: application des inverses généralisées et des pseudoinverses.” Thèse d’Etat. Montpellier, France, 1980.Google Scholar
  8. 8.
    E. Dombre, “Analyse des performances des robots-manipulateurs flexibles et redondants; contribution à leur modélisation et à leur commande.” Thèse d’Etat. Montpellier, France, 1981.Google Scholar
  9. 9.
    E. Dombre, P. Rives, A. Liegeois, A. Fournier, P. Coiffet, “Fault detection and error recovery in robotic systems.” CISMIFToMM Symp. on Theory and Practice of Robots and Manipulators. Warsaw, Poland, pp. 151–159, September, 1981.Google Scholar
  10. 10.
    A. Fournier, W. Khalil, “Coordination and reconfiguration of mechanical redundant systems.” Proc. Int. Conf. on Cybernetics and Society. Washington D.C., pp. 227–231, September, 1977.Google Scholar
  11. 11.
    A. Liegeois, “Automatic supervisory control of the configuration and behavior of multi-body mechanisms.” IEEE Trans. on Systems, Man and Cybernetics. Vol. SMC-7 (12) pp. 868–871, December, 1977.Google Scholar
  12. 12.
    A. Liegeois, E. Dombre, P. Borrel, “Développement d’un système de CAO et de simulations de robots manipulateurs,” Premières Journées Annuelles du Programme Automatisation et Robotique Avancées, Poitiers, pp. 117–128, September, 1982.Google Scholar
  13. 13.
    P. Borrel, F. Bernard, A. Liegeois, D. Bourcier, E. Dombre, “The robotics facilities in the CAM-CAM CATIA System,” in Developments in Robotics, edited by B. Rooks. IFS Publications, 1983.Google Scholar

Copyright information

© Crane Russak & Company Inc 1984

Authors and Affiliations

  • E. Dombre
    • 1
  • P. Borrel
    • 1
  • A. Liegeois
    • 1
  1. 1.Sciences et Techniques du LanguedocLaboratoire d’Automatique et de Microélectronique de Montpellier UniversitéMontpellier-CedexFrance

Personalised recommendations