Abstract
This paper presents a Sensor Based Robot System developed for the DISAM E-65 scara type robot, which was designed by this Department. The DISAM E-65’s gripper also has been developed and it is equipped with several sensors, such as force-torque, vision, proximity and touch, that permit to modify robot movements in real time, according to the environment’s state. The whole system is controlled by a PDP 11-73 microcomputer, in which a new robot explicit programming language (LRS) also has been created, in order to integrate the programming of the robot and sensors. This language is an extension of the general purpose programming language PASCAL, and adds new data types and powerful instructions (such as compliant and guarded motions), so that the system becomes easy to program and to adapt to future applications.
Published Version
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