Trends in CAD/CAM systems for robotics

Dombre, Etienne; Fournier, Alain; Quaro, C.; Borrel, Pascale

doi:10.1109/robot.1986.1087413

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1988

1992

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Cited by 11 publications

(1 citation statement)

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“…Softwares of current robotics computer-aided design (CAD) systems (such as ROBCAD from Teknomatix, MACAUTO from McDonnel-Douglas, CATIA from Dassault System, or ROBOT PLUS from Computervision) all require the action of a human operator who selects the right solution, validates the choices, and modifies the parameters if necessary (Bernard 1984;Dombre et al 1986;Deligneres 1987). This article deals with these first two problems.…”

Section: Introductionmentioning

confidence: 99%

Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles

Wenger¹,

Chedmail²

1991

The International Journal of Robotics Research

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Section: Introductionmentioning

confidence: 99%

Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles

Wenger¹,

Chedmail²

1991

The International Journal of Robotics Research

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On the connectivity of manipulator free workspace

Wenger¹,

Chedmail²

1991

J. Robotic Syst.

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This article presents a new topological characterization of the free workspace of manipulators moving among obstacles. The free workspace is the set of positions and orientations that the end-effector of the manipulator can reach, according to the joint limits of each of its links, and taking into account the obstacles of the environment. A classification of new connectivity properties of the free workspace is proposed, corresponding to different types of motions (point-to-point motions, following of continuous trajectories) that the manipulator can perform in the Cartesian space. For each property, a necessary and sufficient condition is given, which permits verification of the connectivity of the whole free workspace and leads to all the connected subspaces in it. These properties have been implemented in a Robotics C.A.D. system using octree representation of spaces. Some applications are presented, which show that this work is of primary interest for preparing off-line tasks, and is a new contribution to the problem of robotic cell layout design.

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Solid Modelling — A 1988 Update

Requicha

1988

CAD Based Programming for Sensory Robots

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Trends in CAD/CAM systems for robotics

Cited by 11 publications

References 4 publications

Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles

Ability of a Robot to Travel Through its Free Work Space in an Environment with Obstacles

On the connectivity of manipulator free workspace

Solid Modelling — A 1988 Update

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