Creating a programming language for the AL5 type robotic arms

This paper presents all the steps involved in the development of a new and friendly programming language for the AL5 type robotic arm. The AL5 can be controlled via the RS-232 serial port using SCPI (Standard Commands for Programmable Instruments) commands, but this method can control one motor at a time. The robotic arm has 5 + 1 motors; the last motor is an optional motor used to rotate the gripper. Motor sequential control is not the best option, so a method is necessary. Our idea was to teach the robotic arm by moving it in a PTP (Point to Point) path. While moving the motor, positions are saved in text file; afterwards an application can read those text files moving the robot autonomously in the desired path.