In this thesis, a programming system for SCARA-type robots is designed, consisting of robot language, computational facilities and programming tools for handling interconnection environment. In designing the robot language, CLRC(C Library for Robot Control) is introduced, using the general-purpose language 'C' as base programming language. Also the motion primitives for Continuous Path Control as well a PTP motion are included. Computational facilities are supported by the floating-point coprocessor MC68881. By means of frame and homogeneous transformations the system is capable of applying the SCARA-type robot efficiently and easily for any given task.
