Summary of Modeling and Simulation for NIST RoboCrane? Applications

Abstract

The Intelligent Systems Division (ISD) at the National Institute of Standards and Technology has been using modeling and simulation and software for conceptual design and prototyping of advanced robotic cranes. RoboCrane ® concepts have been developed for various applications, such as military ISO-container handlers on land and sea, large-scale welding and gripping, and nuclear waste remediation. The capability to develop our models in an advanced solid modeler and convert them into moving, controlled designs is critical to achieve the level of confidence that is required before building a full-scale prototype. Although we do have scaledprototypes of some of our designs, the computer model, controlled with simulation programming and developed from imported solid models, offers a good way for sponsors to see the concepts and capabilities of the RoboCrane ® systems. This overview paper summarizes the efforts of ISD in developing the RoboCrane ® simulations and the important role simulation and modeling tools have within our projects. Keywords: simulation, computer-aided-design, solid modeling, graphic programming, conceptual design, robotic cranes, RoboCrane®, operator interface