THE MANIPULATION OF OBJECTS BY A ROBOT WITHIN ITS WORKSPACE REQUIRES KNOWLEDGE ABOUT EACH OBJECT'S LOCATION AND ORIENTATION. THIS PAPER DESCRIBES THE DEVELOPMENT AND SUBSEQUENT IMPLEMENTATION OF A 3-D DATA STRUCTURE WHICH PROVIDES THE REQUIRED KNOWLEDGE. THE 3-D REPRESENTATION IS CONSTRUCTED USING INFORMATION OBTAINED VIA CAMERAS WITHIN THE WORKSPACE. IN THE TRANSPUTER-BASED SYSTEM DEVELOPED, THE PROCESS OF EXTRACTING THE INFORMATION FROM THE CAMERA IS SEPARATED FROM THE PROCESSES THAT USE THIS INFORMATION. THIS SEPARATION OF INFORMATION PROVIDER FROM INFORMATION USER ENABLES THE SOFTWARE THAT CONTROLS THE CAMERAS TO BE UPGRADED WITH NO CORRESPONDING CHANGES TO THE INFORMATION USER SOFTWARE.