A new simulation based robot command library applied to three robots

Abstract

A new type of high-level robot command library is presented and demonstrated. Three robot programming languages have been analyzed and new robot command libraries created for three types of robot. The programming of three robots using the new high-level robot command library demonstrated that it was possible to program robots with different kinematic configurations without the programmer having any knowledge of the physical structure of the robots. The library commands contained simulations of the abilities of the robots as well as having the ability to control the physical robots. This paper shows how simulation can be incorporated into a high-level robot command library and how the command library can be used for the programming of three industrial robots. ©1999 John Wiley & Sons, Inc.