Abstract
In this paper we discuss issues of design for software systems for computer controlled manipulators.The aim of the paper is to present the experience obtained in designing and implementing MAL, a stand-alone software system for controlling and programming a two-arms manipulator.That system supplies the user a simple multi-task programming language, with a BASIC-like external form, and operating instructions for compiling, executing, editing and saving the program.We will emphasize how management of multiprocess capabilities, synchronization of different devices, error handling and other desirable features can be inserted in a simple system, implemented on a small minicomputer, suitable for industrial applications.
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