RIPE: a robot independent programming environment

David J. Miller; R. Charleene Lennox

doi:10.1117/12.57088

1 February 1992 RIPE: a robot independent programming environment

David J. Miller, R. Charleene Lennox

Proceedings Volume 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques; (1992) https://doi.org/10.1117/12.57088
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

An object-oriented robot independent programming environment (RIPE) developed at Sandia National Laboratories is being used for rapid design and implementation of a variety of intelligent machine applications. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models work cell tasks as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, 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, a robot independent programming language (RIPL) is realized. Prototype systems for handling nuclear waste shipping casks, underground storage tank cleanup, nuclear weapons disassembly, and glove box access are successfully implemented using this object-oriented software environment.

Citation Download Citation

David J. Miller and R. Charleene Lennox "RIPE: a robot independent programming environment", Proc. SPIE 1607, Intelligent Robots and Computer Vision X: Algorithms and Techniques, (1 February 1992); https://doi.org/10.1117/12.57088

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available