Abstract
This paper presents a new, graphical approach to the definition of complex robot program structures, based on a task description by means of flowcharts. Thus the PC-based OPERA system relieves the user as far as possible from learning a programming language and simplifies a better structuring of robot programs. Parameters for statements and procedure calls are defined within dialog boxes. As the program code is generated automatically, different robot languages are no problem for the user. Based on this approach OPERA offers various functions to add user defined procedure libraries as well as new robot control statements. New functions can be integrated like standard statements. They are graphically represented by user defined icons and even new dialog boxes can be included. Features for debugging and the generation of application specific user interfaces complete OPERA to a structure oriented programming tool, addressing the needs of end users as well as those of application specialists.
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