Off-line programming and simulation in handling nuclear components

摘要

IGRIP was used to create a simulation of the robotic workcell design for handling components at the PANTEX nuclear arms facility. This initial simulation identified problems with the customer's proposed worker layout, and allowed a correction to be proposed. Refinement of the IGRIP simulation allowed the design and construction of a workcell mock-up and accurate off-line programming of the system. IGRIP's off-line programming capabilities are being used to develop the motion control code for the workcell. PNLs success in this area suggests that simulation and off-line programming may be valuable tools for developing robotics in some automation resistant industries.