Interactive development of object handling programs

doi:10.1016/0096-0551(82)90016-9

Computer Languages

Volume 7, Issue 1, 1982, Pages 1-10

https://doi.org/10.1016/0096-0551(82)90016-9 Get rights and content

Abstract

We describe work on development of a software system for writing and testing programs for a computer controlled manipulator. We examine in particular how the development of working programs is facilitated by the use of an interactive system based on an interpreter. The paper presents the main features of POINTY, the system developed at Stanford Artificial Intelligence Laboratory as a tool for writing assembly programs. The user, interacting with the manipulator, constructs an incremental model of the objects involved in the assembly and develops the corresponding symbolic program.

References (13)

G. Gini et al.
POINTY: a philosophy in robot programming
R. Finkel
An overview of AL, a programming system for automation
M.S. Mujtaba et al.
AL Users' Manual
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G. Gini et al.
Object description with a manipulator
Ind. robot
(1978)
R. Finkel
Constructing and debugging manipulator programs
R.L. Glass
Real-time: the “lost-world” of software debugging and testing
Commun, ACM
(1980)

There are more references available in the full text version of this article.

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This paper discusses issues of design for software systems for computer controlled manipulators. A short review of the features which have become important in present soft-ware systems for industrial applications is presented, including how various desirable system capabilities can be introduced at reasonable computational costs.
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An explanation of how management of multiprocess capabilities, synchronization of different devices, error handling and other desirable features can be inserted in a simple system, implemented on micro and minicomputers and made suitable for industrial applications will be shown.
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Robot programming languages are emerging from their experimental stage and entering an assessment phase. Their main features are illustrated and a parallel with ADA is proposed. The comparison is positive for ADA, in the sense that ADA provides most of the required capabilities. The ability of reasoning on object models and taking decisions will play an increasing role in the future. In this case the role of ADA would possibly change and its interest as robot programming language decrease.
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^☆: Support for this research was provided in part by a fellowship issued by the Italian National Council of Research.

^∗: Present address: Istituto di Elettrotecnica ed Elettronica, Politecnico. Milano. Italy.

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Interactive development of object handling programs☆

Abstract

An overview of AL, a programming system for automation

AL Users' Manual

Object description with a manipulator

Ind. robot

Constructing and debugging manipulator programs

Real-time: the “lost-world” of software debugging and testing

Commun, ACM