Explicit programming languages in industrial robots

This paper discusses issues of design for software systems for computer controlled manipulators. A short review of the features which have become important in present soft-ware systems for industrial applications is presented, including how various desirable system capabilities can be introduced at reasonable computational costs. The paper is based mainly on the experiences obtained in designing and implementing MAL, a software system for controlling and programming an experimental robot, and VML, a machine independent intermediate language to be used as a target for compliers of high level programming languages for robots. An explanation of how management of multiprocess capabilities, synchronization of different devices, error handling and other desirable features can be inserted in a simple system, implemented on micro and minicomputers and made suitable for industrial applications will be shown.