A structured approach t robot programmtmg and teaching

25 August 2005

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 452-457
https://doi.org/10.1109/cmpsac.1979.762541

Abstract

This paper describes a structured programming and teaching system for a robot manipuLator where stress is Laid on the consistent integration of programming and teaching. Tn the PAL programming system being developed at Purdue, tasks are represented in terms of structured Cartesian coordinates. Every motion statement is a request to position and orient the manipulator such that a position equation, representing a closed kinematic chain of homogeneous transformations, is satisfied. In the teaching process, the transformation which represents the position of the end of the manipulator is defined using the manipulator itself, and an equation relating any undefined transformations is obtained. By defining these equations during the interpretation of the task program and progressive by solving them, the task is taught. The method is applicabLe both to practical industrial robot control and to intelligent robot control.

Keywords

This publication has 3 references indexed in Scilit:

Object description with a manipulator
Industrial Robot: the international journal of robotics research and application, 1978
Interactive Generation of Object Models with a Manipulator
IEEE Transactions on Systems, Man, and Cybernetics, 1978
WAVE A model based language for manipulator control
Industrial Robot: the international journal of robotics research and application, 1977