An environment for configuration, programming and control of robot workcells is discussed. The controller is intended to support research in automation programming and motion control, and to provide a vehicle for conveniently integrating new sensors and other devices into a workcell in a useful way. The system consists of an interactive programming system connected through a shared memory to a multiple-processor real-time system that performs time-critical operations. The programming system executes programs written in an enhanced version of AML and transmits high-level commands, called verbs, to the real-time system for execution. Verbs may either be simple, consisting essentially of a process specification and termination conditions, or they may be compositions of other verbs. The processes themselves are specified in terms of lower level entities called real-time application subroutines, state vector variables, and data flow graphs which describe computations to be performed in the real-time system.
|Original language||English (US)|
|Title of host publication||Unknown Host Publication Title|
|Number of pages||7|
|State||Published - Jan 1 1986|
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