Title :
Industrial robot programming languages: A comparative evaluation
Author :
Gruver, William A. ; Soroka, Barry I. ; Craig, John J. ; Turner, Timothy L.
Author_Institution :
LTI Robotic Syst., Palos Verdes, CA, USA
Abstract :
Eight commercially available high-level robot programming languages developed by industrial robot builders and research laboratories are evaluated. These languages are: AL; AML; Help; Jars; MCL; Rail; RPL; and Val. The historical background of the languages is reviewed. The languages are evaluated on the basis of data types, control structures, motion specification, use of sensors, and interface with external machines and devices. Common and uncommon features are noted. Facilities for program editing, entry, debugging, and teaching are compared. Conclusions are given regarding their present status and future development.
Keywords :
high level languages; industrial robots; AL; AML; Help; Jars; MCL; RPL; Rail; Val; control structures; debugging; editing; entry; high level language; industrial robot; interface; motion specification; programming languages; sensors; teaching; Laboratories; Rails; Robot kinematics; Robot programming; Robot sensing systems; Service robots;
Journal_Title :
Systems, Man and Cybernetics, IEEE Transactions on
DOI :
10.1109/TSMC.1984.6313327
