Programming and simulating a three-armed cartesian robot

This paper- describes a language and timing simulator for a robot system with three cartesian arms. The system is targeted at flat aircraft structures. The language provides a test-bed for illustrating the complexity of robot programming for low-volume parts. The TIMER program accepts the language, performs rudimentary debugging, and computes the expected timing of a sequence of robot motions. TIMER is implemented in LISP and runs on an IBM Personal Computer.