Multitask programming system for industrial robot applications
Chang, Wee Lee.
Date of Issue1997
School of Mechanical and Aerospace Engineering
Extensive research and development work has been devoted to robot programming in recent years. Different programming approaches have been developed for proprietary robot systems. They all attempt to raise the level of abstraction of the robot programming systems. They differ, however, to a great extent in the stage of maturity they have reached to become practical for industrial applications. In this dissertation, multitask robot programming approach is addressed. A detailed study has been made on a Panasonic industrial robotic system. In this case, the HR-35 robot and P391 controller are used for programming examples and case study. The control system is capable of executing in either singletask mode through the command set PARL-1, or multitask mode through the command set PARL-1M.