Abstract
A flexible robot arm control system with both an Interpreter of a task-level robot programming language and visual functions for monitoring conditions of objects has been developed. In the system. programmers can make their robot control programs by use of the verbs with task-level meanings, for example, “stack-on”. “carry”, “lift”. etc., and have primarily no need to describe the coordinate values once the circumstance and the initial states of objects in the circumstance are described in the “circumstance program part”. Furthermore, for coping with unexpected states in the robot operation, visual monitoring of objects can be performed giving a command “VISION”, a reserved word “locate”, etc. A system including both the task-level language interpreter and visual monitoring functions utilising a CCD camera has been realized for a robot arm, and experiments have shown the effectiveness of the system.
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