The development of a programming facilities for an assembly robot system consisting of two arms, each having five degrees of freedom, is reported in this thesis. The work is a part of the project, which is made up of (1) man-robot interaction, (2) robot motion control, (3) DC servo motor control.
The purpose of this programming facilities is (1) for a user to teach with ease by using object's coordinates with respect to world coordinates, (2) for a user to program with ease by using task-oriented languages, (3) for a user to manipulate with ease by using a set of monitor commands. This system consists of a monitor command module by which all commands is instructed, an I/O module by which communication with M68000 is performed, a user file maintenance module by which editing, deleting, listing of user's file can be done, and an execution module by which user's program is run.
This system is implemented by means of Fortran and assembly languages on the PDP 11/34 minicomputer and is tested by running the assembly robot system.
