A real-time interpreter for the programming and control of a robotic workcell

A framework for programming multielement robotic workcells has been proposed, developed, and implemented as a two-part solution (SAGE/WRAP). SAGE generates a time-optional sequence of operations for each workcell element which then becomes the basis of the runtime program that performs the application. This program is interpreted and executed by the hierarchical workcell runtime environment WRAP. The WRAP interpreter, which interprets a workcell program and coordinates its execution, is discussed. The architecture and the algorithm implemented by the interpreter are emphasized.<>