Skip to main content

A robot programming environment based on free-form CAD modelling

Johnson, Colin G. and Marsh, Duncan (1998) A robot programming environment based on free-form CAD modelling. In: Proceedings. 1998 IEEE International Conference on Robotics and Automation. IEEE, pp. 194-199. ISBN 0-7803-4300-X. (doi:10.1109/ROBOT.1998.676372) (KAR id:70982)

PDF Author's Accepted Manuscript
Language: English
Click to download this file (255kB)
[thumbnail of ieee_leuven.pdf]
This file may not be suitable for users of assistive technology.
Request an accessible format
Official URL:


This paper presents the mathematical and computational foundations of a robot programming environment embedded within a CAD system. The key ideas behind this system is that it will work offline, it will allow a high-level of task abstraction and it will be usable by designers and engineers who have a good knowledge of the desired task but only a basic grounding in robot engineering. In this paper we begin with a discussion of how robot workspace can be modelled using free-form CAD design concepts. The core of the paper is concerned with the application of these to well known problems of collision detection and path planning, showing how algorithms developed in CAD can be applied to these new problem-areas in an efficient way. In the closing section we use these ideas to consider the development of new, graphically-based, robot programming systems.

Item Type: Book section
DOI/Identification number: 10.1109/ROBOT.1998.676372
Subjects: Q Science > QA Mathematics (inc Computing science) > QA440 Geometry
Q Science > QA Mathematics (inc Computing science) > QA 76 Software, computer programming,
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Computing
Depositing User: Colin Johnson
Date Deposited: 12 Dec 2018 18:56 UTC
Last Modified: 16 Nov 2021 10:25 UTC
Resource URI: (The current URI for this page, for reference purposes)
Johnson, Colin G.:
  • Depositors only (login required):

Total unique views for this document in KAR since July 2020. For more details click on the image.