Geometric Algorithms in AdeptRAPID
John J Craig
Director of R&D
SILMA Division of Adept Technology
AdeptRAPID is a software package used to design and simulate robot-based
flexible automation cells. Its goal is to simplify the concepting and design
of automation installations used for applications such as mechanical assembly,
material handling, or packaging. Ease of use is of paramount importance so
that this technology can truly impact the way industrial automation is
The need for ease of use drives the need for the simulation system to behave
like the actual physical world. The more the simulator acts like the real world,
the simpler the user interface paradigm for the user, since the physical world is
the one we are all familiar with. At the same time, trade-offs for compuational
speed and other factors have driven a design in which a particular "slice" of
reality is simulated, while many details are not.
AdeptRAPID is well-suited as a host for a variety of geometric algorithms. The
need to model various portions of the real world, as well as the need to unburden
the user by making various computations of a geometric nature drive the need
for such algorithms. AdeptRAPID provides the environment in which some advanced
algorithms can be brought to bear on real problems occuring in industry.
This paper presents the current state of development of the AdeptRAPID simulator.
Attention is paid to the various geometric algorithms already in place as well
as the need for more and better algorithms.
Last modified: Fri Mar 20 14:30:17 PST 1998