Abstract
The object-oriented Robot Independent Programming Environment (RIPE) is described. A system architecture based on hierarchies of distributed multiprocessors provides the computing platform for a layered programming structure that models the application as a set of software objects. These objects are designed to support model-based automated planning and programming, real-time sensor-based activity, error handling, 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, the Robot Independent Programming Language (RIPL) is realized. Work cell tasks demonstrating robotic cask-handling operations for nuclear waste facilities are successfully implemented using this object-oriented software environment. >
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