A robotic workcell is a collection of robots, sensors, and other industrial equipment grouped in a cooperative environment to perform various complex tasks. Due to their distributed nature however, the control and programming of robotic workcells is often a difficult task, for which dedicated environments have to be designed and built. / Simulation, especially graphic simulation, can greatly contribute to the development of programs for such integrated robotic applications: the simulator emulates the behavior of the workcell on a computer display, and allows the programmer to test and debug programs without requiring an immediate access to the physical equipment. / This thesis presents the design of a graphic simulator for robotic workcell applications. The simulator is based on SAGE/WRAP, an environment for the programming and run-time control of robotic workcells. Given a WRAP program as input, the simulator displays a top-view of the workcell and animates graphically the execution of the program; the coordination and the flow of operations within the workcell being shown, the programmer can quickly assess the overall validity of the program. / The simulator was developed in C under the X Window System, and is currently implemented as a standalone software; the design was made flexible and modular, to facilitate an eventual integration to the WRAP environment.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.60085 |
| Date | January 1991 |
| Creators | Pilon, Mathieu |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Electrical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 001238155, proquestno: AAIMM67824, Theses scanned by UMI/ProQuest. |
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