Programming language for robotic assembly tasks

The work presented in this paper deals with the development of a high level reactive macro-language dedicated to robotic assembly tasks. In order to satisfy the following constraints: openness, modularity, real-time decision making and powerful programming system, a control architecture is proposed. It includes three software layers: user layer, command layer and manage/control layer. This last layer is based on a real-time multitasking executive. This programming language has been applied to drive a flexible assembly cell. In this paper a detailed analysis of the manage/control layer is presented. In order to show that the authors' control system operates satisfactorily several simulations are presented and discussed.