Integrating robot manipulator control into PASCAL

Manipulator motion and end-effector commands are integrated into PASCAL by means of two real-time event-driven asynchronous processes. Communication and synchronization between processes is by means of procedures and global variables. Homogeneous transforms and transform equations, which form the basis of robot manipulator task descriptions, are represented by records and linked dynamic variables. Combining a robot manipulator control system, based on homogeneous transformation, with a general purpose programming language results in an extremely powerful robot control system which is simple to understand and would be easy to develop.