Higher Order Languages for Robots,

Abstract

This state of the art review of higher order languages for robots provides a background of robot programming approaches. Strengths and weaknesses of various approaches are presented. The second section of the report discusses specific languages. Manipulator level languages developed by universities and research institutes include: AL, PAL, JARS, LAMA-S, LM, ROBEX, RPL, VML, LENNY, LPR, MAL, RCCL, RCL, SRL, and LMAC. Commercial languages are: VAL, ML. EMILY, SIGLA, AML, HELP, MCL, AML/E AML/V, RAIL, PASRO, CIMPLER, VAL II, AR-BASIC, KAREL and AML/X. Task level languages discussions include RAPT and AUTOPASS. CAD/GRAPHIC systems that are discussed include GRASP, IGRIP, GRIPS from Universities and PLACE, ANIMATE COMMAND, ADJUST BUILD and ROBOT-SIM from commercial manufacturers. A third section discusses robot performance and the elements of a robot programming system. The resulting programming requirements are set forth. Comparisons are drawn for VAL, VAL-II, RAIL, KAREL, and AML/X. Off-line programming is compared to teach programming. DoD HOL issues and ongoing research are discussed. Conclusions emphasized the needs for the language and the requirements of the entire robot system.