World Modeling for CAD Based Robot Programming and Simulation

The design of a world modeling system for CAD based robot programming and simulation is presented. The system can support interfaces to actual robot workcell environments allowing for calibration of the workcell model for inaccuracies and its use for robot control. The system models geometrical, spatial, relational and physical properties of the world allowing for geometrical and spatial reasoning as well as reasoning about the mechanics of manipulation. It supports simulation of several sensory functions and multiple arm coordinated control. It also supports representation of assemblies and aggregation of multiple devices. The system design presented is the basis of a world modeling system for model based robot task planning, simulation and control currently under development.