A Structured Approach to Robot Programming and Teaching

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