A solution for the man/machine-interface in robotics:A high level control language with enhanced interaction equipment

Man/machine interface which allows on ultra flexible programming and control of a robotic cell is introduced. The interface consists of a high level task oriented control language and a set of interaction equipment. The system is designed to use in applications where the robot has to be taught or reprogrammed frequently because of individual jobs, small series or a radically changing working environment. When needed the system allows the operator work interactively on-line with the robot work cell so that tasks can be processed immediately after communicating them through the interfacing system. The paper explains the main principles used in task allocation between the human and the robot and in language structuring, and describes the man/machine communication facility. Alternatives to represent the world model information is discussed. An example is given to illustrate the main principles