Robot programming with flexible geometric relations

Abstract

A programming system with robot language ROBOL is developed to control robotic workplaces. It is modular for various configurations of technical resources and many types of kinematic structures. This programming environment allows the user to control several effectors simultaneously. The system is “made-to-measure” for each specific workplace. Application programs are prepared through dialogue with the control system. In order to maximize the flexibility of geometric relations, the source text of procedures is in program files and position data in the separated data files.