Task.o object modeling approach for robot workcell programming

Robot workcell programming is an application where object oriented programming paradigms can be effectively applied to handle the issues such as concurrency and autonomy. We present an object model named Task.o, and Task object Coupling (ToC) programming technique which uses Task.o objects. This approach is designed to increase the level of reusability, expandability, modifiability, and productivity. We define the development steps of using the Task.o object model and the ToC technique and demonstrate each step.