An architecture for application oriented robot programming

Application-oriented programming of industrial robots is considered. The authors formulate the problems and suggest one approach towards a solution. The problem is motivated by some typical examples that are outlined. These examples show some requirements from different applications. Even a very mature application like spot welding needs special care to obtain best possible performance in the short moves between spots. In more complicated sensor-based applications the need is even greater. An architecture called the open robot control (ORC) architecture is proposed for this type of application-oriented programming. Solutions to the examples using ORC are discussed. A brief discussion of related works is given. Some implementation aspects are presente