A programming language for commanding the industrial robots

Rad sadrži opis jezika RL namenjenog za programiranje neredundantnih robota sa do šest stepeni slobode. U definisanju strukture jezika posebna pažnja vodila se mogućnostima implementacije na miniračunarima srednje klase. RL je projektovan kao jezik visokog nivoa koji podrazumeva programiranje robota u spoljašnjim koordinatama i jednostavno izražavanje prostornih odnosa, definisanje radnih položaja korišćenjem samog robota i komunikaciju robota sa okolnom opremom. U jezik je uključen koncept radnih zadataka i privatnih varijabli, čime se programeru RL paketa pruža mogućnost zaštite sistema od neispravnog korišćenja.The paper contains a description of the language RL which is intended for programming of nonredundant robots with up to six degrees of freedom. When defining the language structure, a special attention was given to possibilities of its implementation on medium-class minicomputers. The RL is designed as a high level language supporting robot programming in external coordinates and simple expression of space relationships, definition of working positions using the robot itself, and communications between the robot and its surrounding equipment. A concept of operation tasks and private variables is included in the language, enabling the programmer to protect the system from improper use