The ARCL Robot Programming System
نویسندگان
چکیده
The wide variety of robot programming languages available and their limitations can reduce the value of robots in establishing competitive industries. A solution is the use of a standard programming language and a library of robot control functions. ARCL (for Advanced Robot Control Library) is a powerful, general, and portable software library which provides robot control capability to C language application programmers. ARCL, developed by the CSIRO Division of Manufacturing Technology, supports sensor-based motion control, and has been used in projects related to force-controlled deburring and high-performance visual servoing. Robot controllers using the ARCL library have replaced the VAL-I controller on Unimate Puma 560 robots, and controlled a stepper motor robot attached to a PC. As well as real-time systems, ARCL runs o -line on Unix workstations and PCs, and can produce graphical simulation of robot motion. This paper introduces the software and its capabilities.
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