A data structure and data base design for model driven robot programming

Abstract

A data structure is presented for model driven robot programming and motion simulation. Handling of device parallelism and construction of data bases containing the description of one or more robots, the world in which they operate and parts that are being handled are also presented. The system structure of the model driven robot programming and simulation system STAR (Simulation Tool for Automation and Robotics) incorporating this data structure is described.