Abstract
SUMMARYThis work describes a hierarchically structured geometric database in an off-line robot programming system. The data structure contains the numerical definition of the frame variables, as well as an indicator of the respective reference frames. Moreover, the physical relations between the objects in the environment are included. The database is implemented such that it continuously reflects the actual structure of the environment. As a result, all calculations of the frame locations are carried out automatically. Moreover, the programming system is capable to autonomously updating the numerical information after changes in the environment. Making this database the heart of a robot programming system greatly simplifies the off-line programming of complex robot tasks, like f.i. assembly tasks.
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