RAPT: A language for describing assemblies

摘要

In the paper we describe a language for instructing assembly robots. This language has been implemented in an experi‐mental form on the DEC system 10 computer at Edinburgh. Since assembly robots resemble numerically controlled machine tools, we chose to use the APT language as the syntactic basis for the new language so that people accustomed to numerical control could readily adapt to it. We shall refer to this language as RAPT ‐ (Robot APT). It should be noted that the syntactic and semantic components of RAPT are sufficiently independent for other syntactic conventions to be used with the RAPT semantic interpreter.