textual robot languages classification and description

applications and languages

1. ROBOT LANGUAGES Ever since the arrival of powerful computers the trend has been increasingly towards programming robots via programs written in computer programming languages. Usually these computer programming languages have special features that apply to the problems of programming manipulators and so are called Robot Programming languages.

2. TEXTUAL ROBOT LANGUAGES These robot programming languages have been built by developing a completely new language with addressing robot specific areas. The first textual robot language was WAVE (1973) that interfaced machine vision system demonstrated feasibility if robot hand eye co ordination. AL(1974) is used to control multiple arms in tasks requiring arm co ordination. VAL(1979) i.e., victors assembly language and upgraded to VAL II (1984). For commercially available robot textual languages AUTO PASS AND AML(automated manufacturing language) developed by IBM directed at assembly and related tasks. RAIL (1981) for assembly , arc welding, machine vision. MCL( manufacturing control language) developed by US air force, as an enhancement of the APT (AUTOMATICALLY RECOGNIZED TOOLING) numerically control part programming language. HELP from GE company.

3. GENERATION Textual robot languages possess a variety of structures and capabilities. These are still evolving. FIRST GENERATION LANGUAGE: Use a combination of command statements and teach pendant procedures to solve the different problems. BASED ON MOTION CONTROL WITH A TEXTUAL PROGRAMMING LANGUAGE MANIPULATOR Motion, straight line interpolation, branching and elementary sensor commands. Limitation : inability to specify complex arithmetic computations. SECONG GENERATION LANGUAGE : Feature and capabilities are motion control , advanced sensor capabilities, limited intelligence , communications and data processing. Future generation language : concept called “world modelling”.

4. ROBOT LANGUAGE STRUCTURES The robot language must be designed to operate with a robot system. The second generation languages represent the current state of the art in textual languages. All the features of first generation are included in second generation, but has still more advanced capabilities. The language must support robot programming, control of robot manipulator and interfacing with peripherals in the work cell (e.g., sensors and equipment). It should support data communications with other computer systems in the factory.

5. OPERATING SYSTEMS In using textual languages the programmer has monitor, alpha numeric keyboard and a teach pendent storing programs i.e., a disk and magnetic tape. Language requires some mechanism that permits user to write a new program, edit, execute, a program or other functions this mechanism is called OPERATING SYSTEMS. A robot language operating system contains 3 Modes of operations Monitor mode. ( overall supervisory control of system. Run mode. ( executing the robot program made). Edit Mode.

6. OPERATING SYSTEMS An interpreter is the program in the operating system that executes each instruction of source program. Eg : VAL is and example of robot language that is processed by an interpreter. An compiler is a program in the operating system that passes through entire source program and pretranslates all instruction into machine level code that an be read and executed by the robot controller. Eg . MCL is an example of robot language this processed by a compiler.

7. ROBOT LANGUAGE ELEMENTS AND FUNCTIONS The basic elements that should be incorporated into the language to enable the robot tasks of medium to high complexity are: Constants, variables and other data objects (Aggregates and location variables). Motion Commands (move, speed control, define paths , frames) End effector and sensor commands. Computations and operations. Program control and subroutines Communications and data processing Monitor mode commands

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