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Previous works on industrial robots dealt with "programming" and "programming languages" only in passing; no comparison was made between characteristics of the individual programming lan guages. This book, therefore, gives a detailed account of industrial robot programming and its environment. Mter introducing basic concepts special attention is paid to the language constructs relevant to robot programming. The features of various elements of the languages ex amined are compared. The languages are based on the following concepts: SRL - high-level programming language based on AL with PASCAL elements (University of Karlsruhe, F. R G. ) PASRO - integrated into PASCAL, based on the geometrical data types of SRL (I. I. -BIOMATIC Informatics Institute, Freiburg, F. RG. ) AL - derived from the high-level programming language ALGOL (Stanford University, U. S. A. , and University of Karls ruhe, F. RG. ) AML - high-level programming language, influenced by PL/1 (IBM, U. S. A. ) VAL - language specifically developed for robots (Unimation, U. S. A. ) HELP - mixture of high-level language elements and robot l- guage elements and real-time processing (DEA, Italy) SIGLA - a simple machine language (Olivetti, Italy) ROBEX - based on NC programming (Technical College (RWTH), Aachen, F. RG. ) RAIL - high-level programming language for industrial robots with elements for graphic processing (Automatix, U. S. A. ) IRDATA - general software interface between programming and robot controller (Association of German Engineers (VDI), F. R G.
List of contents
1 Introduction.- 2 Fundamentals.- 2.1 Terminology.- 2.2 Concepts in Computer Science.- 2.3 Concepts for Robot Languages.- 3 Data Structures.- 3.1 Data Objects.- 3.2 Manipulation of Data.- 3.3 Assignments.- 3.4 Output of Text and Numbers.- 4 Instructions.- 4.1 Instructions for World Models.- 4.2 Motion Instructions.- 4.3 Effector Instructions.- 4.4 Stopping a Robot or Effector Movement.- 4.5 Sensor Instructions.- 4.6 Block Structuring and Instruction Sequencing.- 4.7 Program Flow Control.- 4.8 System Switches and Status Report.- 4.9 Treatment of Exceptional Situations.- 5 Integration of a Teach-In Procedure.- 6 Subroutines, Procedures and Functions.- 6.1 Subroutines.- 6.2 Procedures.- 6.3 Functions.- 6.4 Recursive Procedures and Functions.- 7 Multitasking and Synchronization.- 7.1 Parallel Blocks.- 7.2 Tasks.- 7.3 Coroutines.- 8 Programming and Run-Time Systems.- 8.1 Editor.- 8.2 Compiler and Processor.- 8.3 Interactive Component.- 8.4 Run-Time System.- 8.5 Software Interface IRDATA.- 8.5.2 Intention and Structure of IRDATA.- 8.6 Simulators and Program Test.- 8.7 Implementation.- References.- Appendix A: SRL.- I. Main Elements of SRL.- II. Syntax Diagrams.- Appendix B: PASRO.- I. Summary of PASRO Procedures.- II. Predefined Datatypes and Variables of PASRO.- Appendix C: PASCAL.- Appendix D: AL.- Appendix E: AML.- I. Motion Control.- II. Safety Instructions.- III. Sensor Instructions.- IV. Arithmetic.- V. Data Manipulation.- VI. Calibration.- Appendix F: VAL-II.- I. Monitor Commands.- II. Program Instructions.- III. Real-Value Functions.- IV. Location Functions.- Appendix G: HELP.- Appendix H: SIGLA.- Appendix I: ROBEX.- I. Short Reference Manual.- II. Addendum: Planned or Realized Extensions to ROBEX.- III. ROBEX-M-(Quick Reference).- Appendix J: RAIL.- Appendix K: IRDATA.- Appendix L: Table of Comparison.
