Riassunto
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.
Contenuti
1 Introduction.- 2 Fundamentals.- 2.1 Terminology.- 2.2 Concepts in Computer Science.- 2.2.1 Variables.- 2.2.1.1 Treatment of Variables from a Programmer’s Viewpoint.- 2.2.1.2 Treatment of Variables During Program Execution.- 2.2.1.3 Evaluation of Variable Addresses.- 2.2.1.4 Representation of Variable Addresses.- 2.2.2 Principle of Stack Operation.- 2.2.3 Block Structuring.- 2.2.3.1 Scope and Life Span of Variables.- 2.2.3.2 Block Structures and Memory Allocation.- 2.2.3.3 Memory Organization on the Stack.- 2.2.4 Subroutines, Procedures, Functions and Macros.- 2.2.4.1 Subroutines.- 2.2.4.2 Procedures and Functions.- 2.2.4.3 Macros.- 2.2.5 Recursion.- 2.2.6 Processes, Tasks and Coroutines.- 2.2.7 Synchronization.- 2.3 Concepts for Robot Languages.- 2.3.1 The Concepts of Frames.- 2.3.2 Coordinate Transformations and Trajectory Planning.- 2.3.3 Types of Move Control for Industrial Robots.- 2.3.4 Programming Languages on Mainframe Computers..- 2.3.5 Robot-Specific Programming Languages.- 2.3.6 NC Programming.- 2.3.7 Production Schedules, Colloquial Language.- 2.3.8 World Models.- 3 Data Structures.- 3.1 Data Objects.- 3.1.1 Declarations.- 3.1.2 Definitions of Constants.- 3.1.3 Standard Data Types.- 3.1.4 Geometric Data Types.- 3.1.5 Structured Data Types.- 3.1.5.1 Arrays.- 3.1.5.2 Records.- 3.1.5.3 Files.- 3.1.5.4 Aggregates.- 3.1.6 Pointer Type and Word Model.- 3.2 Manipulation of Data.- 3.2.1 Operators.- 3.2.1.1 Arithmetic Operators.- 3.2.1.2 Geometric Operators.- 3.2.1.3 Comparing Operators.- 3.2.1.4 Logical Operators.- 3.2.2 Standard Functions.- 3.2.3 Complex Expressions.- 3.3 Assignments.- 3.3.1 Value Assignments.- 3.3.2 Inputs.- 3.3.2.1 User Inputs.- 3.3.2.2 Reading of Current Robot Position and Orientation.- 3.3.3 Assignments to Pointers.- 3.4 Output of Text and Numbers.- 4 Instructions.- 4.1 Instructions for World Models.- 4.2 Motion Instructions.- 4.2.1 Implicit Motion Instructions.- 4.2.2 Explicit Motion Instructions.- 4.2.3 Simple Motion Instructions.- 4.2.4 Motion Instructions with Parameters.- 4.2.5 Motion Instructions with Sensor Integration.- 4.2.5.1 Motion Instructions with Sensory Monitoring.- 4.2.5.2 Motion Instructions with Sensor-Monitored Parameters.- 4.2.6 Motion Instructions with Event Monitoring.- 4.2.7 Motion Instructions with Time-Out Monitoring.- 4.2.8 Parallel Processing.- 4.2.9 Moving to a Home Position.- 4.3 Effector Instructions.- 4.3.1 Simple Effector Instructions.- 4.3.2 Effector Instructions with Parameters.- 4.3.3 Effector Instructions with Sensory Monitoring.- 4.3.4 Effector Instructions with Sensor-Monitored Parameters.- 4.4 Stopping a Robot or Effector Movement.- 4.5 Sensor Instructions.- 4.5.1 Program Branching Subject to Sensory Information..- 4.5.2 Input of Sensory Information.- 4.5.3 Sensory Monitoring.- 4.5.4 Sensor Instructions for Vision Systems.- 4.6 Block Structuring and Instruction Sequencing.- 4.7 Program Flow Control.- 4.7.1 Program Branches.- 4.7.1.1 Conditional Branches.- 4.7.1.2 Case Statements.- 4.7.2 Loops.- 4.7.2.1 Counting Loops.- 4.7.2.2 Conditional Loops.- 4.7.3 Synchronization Commands.- 4.7.4 Wait Instructions.- 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.- 8.4.1 Interpreter.- 8.4.2 Motion Control.- 8.5 Software Interface IRDATA.- 8.5.1 Different Levels of Programming and Control.- 8.5.1.1 Descriptive Elements in Software Interfaces.- 8.5.1.2 Action Elements in Software Interfaces.- 8.5.2 Intention and Structure of IRDATA.- 8.5.3 IRDATA Interpreter and Move Control Interface.- 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.
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