A software system for teaching and commanding the industrial robots

Abstract

Design features of a system for programming the industrial robots with dynamic control are described. When specifying the system, special attention was given to achieving hardware transportability, simplicity of communication between the user and the system, possibility of active user participation in generation of control algorithms, and possibility of implementing the software on a computer with relatively modest characteristics. The software is intended for implementation on a microprocessor-based system and should enable the user to control a robot via specialized programming language RL which incorporates structures for defining the positions and orientations of working points, motion specification, and synchronization of the robot with its environment. The paper contains descriptions of the RL language and of the system structure. The main characteristics and advantages of the system as well as questions concerning its realization on existing microprocessors are also discussed.