Specification of a STEP Based Reference Model for Exchange of Robotics Models: Geometry, Kinematics, Dynamics, Control, and Robotics Specific Data

Jochen Haenisch, Uri Kroszynski, Arnold Ludwig, Torben Sørensen

    Research output: Book/ReportBookResearchpeer-review


    ESPRIT Project 6457: "Interoperability of Standards for Robotics in CIME" (InterRob) belongs to the Subprogram "Computer Integrated Manufacturing and Engineering" of ESPRIT, the European Specific Programme for Research and Development in Information Technology supported by the European Commision. InterRob aims to develop an integrated solution to precision manufacturing by combining product data and database technologies with robotic off-line programming and simulation. Benefits arise from the use of high level simulation tools and developing standards for the exchange of product model data combining geometric, dynamic, process and robot specific data.The growing need for accurate information about manufacturing data (models of robots and other mechanisms) in diverse industrial applications has initiated ESPRIT Project 6457: InterRob. Besides the topics associated with standards for industrial robot programming, the descriptions of geometry, kinematics, robotics, dynamics, and controller data using STEP are addressed as major goals of the project.The Project Consortium has now released the "Specificatin of a STEP Based Reference Model for Exchange of Robotics Models" on which a series of pilot processor programs are based. The processors allow for the exchange of product data models between Analysis systems (e.g. ADAMS), CAD systems (e.g. CATIA, BRAVO), Simulation and off-line programming systems (e.g. GRASP, KISMET, ROPSIM).
    Original languageEnglish
    Place of PublicationKarlsruhe
    PublisherForschungszentrum Karlsruhe
    Number of pages493
    Publication statusPublished - 1996

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