Skip to main content
SpringerLink
Log in

Improving the Programmability of Robotic Workcells

  • Conference paper
New Trends in Computer Graphics

Abstract

In this paper we briefly describe WRAP (Workcell ReAl-time Programming) which provides an integrated run-time/programming environment for a distributed robotic workcell. A robotic workcell is a distributed system consisting of a variety of elements such as multiple robots. multiple sensors and other factory machines. To synchronize and coordinate the concurrent operations of these elements WRAP uses a user defined state formalism. A sample idealized assembly application programmed under WRAP is also distussed to illustrate the programming methodology. the power and the flexibility of the system. The assembly work(ellconsists of two six degree of freedom robots. a linear stage, an overhead camera and a infrared range sensor mounted on one of the robots.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Similar content being viewed by others

References

  1. R. Alami. H. Chochon. “Programming of Flexible Assembly Cell: Task Modeling and System Integration” IEEE Conf. on Robotics and Automation. 901–907. 1985.

    Google Scholar 

  2. R. Alami. “NNS: A LISP-Based Environment for the Integration and Operating of Complex Robotics Systems”. IEEE Conf. on Robotics and Automation. 349–353. 1984.

    Google Scholar 

  3. J. Albus. A. Barbera. M. Fitzgerald.“Programming a Hierarchical Robot Control System”. 12th Int. Symp. on Industrial Robots. 505–517. 1982.

    Google Scholar 

  4. J. Albus. J. Evans. “A Hierarchical Structure for Robot Control”. 5th Int. Symp. on Industrial Robots. 231–237. 1975.

    Google Scholar 

  5. H. Baird. E Wells. D. Britton. “Coordination Software for Robotic Workcells”. IEEE Conf. on Robotics and Automation. 354–360. 1984

    Google Scholar 

  6. N Beale “The MAP initialive”. Computer Aided Eng. L Vol. 3. no. 3. 79–82. June 1986

    Article  Google Scholar 

  7. S Bonner. K. Shin. “A comparative stlldy of robot languages”. IEEE Computer. Vol. 15 no 12 December 1982.

    Google Scholar 

  8. G. Carayannis. A. Malowany. “A Framework for a Robot Workcell Run-time Environment”. Technical Report. McGill Research Center for Intelligent Machines. 1988.

    Google Scholar 

  9. G. Carayannis. B. Blais. A. Malowany. M. levine. “A Real-Time Database for a Robotics Workcell Programming Environment”. IEEE Pacific Rim Conf 141–144. 1987.

    Google Scholar 

  10. P. Freedman. A. Malowany. “The Analysis and Optimization of Repetition within a Robot Workcell Sequencing Problems”. Proc. IEEE Int. Conf. Robotics and Automation. 1988

    Google Scholar 

  11. P. Freedman. C. Michaud. G. Carayannis. A. Malowany. “A Data Base Design for the Runtime Environment of a Robotics Workcell”. Robotics and Computer Integrated Manuf J Spring 1988.

    Google Scholar 

  12. P. Freedman. G. Carayannis. A. Malowany. “A Graphical Perspective on Robot Workcell Programming”. Graphics Interface ’88 Conf., 1988.

    Google Scholar 

  13. D. Gauthier. G. Carayannis. G. P. Freedman. A. Malowany. “Interprocess Communication for Distributed Robotics”. IEEE J. of Robotics and Automation. Vol. RA-3. no. 6. 493–504. Dec. 1987

    Article  Google Scholar 

  14. M. Gini. G. Gini. “Recovering from Failures: A New Challenge for Industrial Robotics”. IEEE COMPCON Fall Conf., 220–227. 1983.

    Google Scholar 

  15. W Gruver. B. Soroka. J. Craig. T. Turner. “Industrial Robot Programming languages A Comparative Evaluation”. IEEE Trans. on Systems Man and Cybernetics. Vol. SMC-14. no 4. 565–570. August 1984.

    Google Scholar 

  16. L. Haynes A. Barbera. J. Albus. M. Fitzgerald. H. McCain. “An Application Example of the NBS Robot Control System”. Robotics & Computer Integrated Manufacturing. Vol. 1. No.1. 81–95. 1984

    Article  Google Scholar 

  17. V. Hayward. R. Paul. Manipulator Control using the C’ Programming language under UNIX”. IEEE Workshop on languages for Automation. 3–10. 1983.

    Google Scholar 

  18. A. Kak. K. Boyer. C. Chen. R. Safranek. H. Yang. “A Knowledge-Based Robotics Assembly Cell”. IEEE Expert. Vol. 1. no. 1. 63–83. Spring 1986.

    Article  Google Scholar 

  19. D. Kossman. A. Malowany. “A Multi-Processor Robot Control System for RCCl under iRMX”. IEEE Int. Conf. on Robotics and Automation. 1298–1306. 1986.

    Google Scholar 

  20. O. Maimon. “A Multi-Robot Control Experimental System with Random Parts Arrival”. IEEE Conf on Robotics and Automation. 895–900. 1985.

    Google Scholar 

  21. O. Maimon. Y Nof. “Activity Controller for a Multiple Robot Assembly Cell”. Winter Annual Meeting of the American Society of Mechanical Eng., 267–284. 1983.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Canada

    G. Carayannis & A. Malowany

Authors
  1. G. Carayannis
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. Malowany
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Centre Universitaire d’Informatique, Université de Genève, 12 rue du Lac, CH-1207, Genève, Switzerland

    Nadia Magnenat-Thalmann

  2. Laboratoire d’Infographie, Département d’Informatique, Ecole Polytechnique Fédérale de Lausanne, CH-1015, Lausanne, Switzerland

    Daniel Thalmann

Rights and permissions

Reprints and permissions

Copyright information

© 1988 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Carayannis, G., Malowany, A. (1988). Improving the Programmability of Robotic Workcells. In: Magnenat-Thalmann, N., Thalmann, D. (eds) New Trends in Computer Graphics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-83492-9_60

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-83492-9_60

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-83494-3

  • Online ISBN: 978-3-642-83492-9

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation