As automatic manufacturing systems become more sophisticated, there is an increasing need for advanced robots and robot programming systems. These systems need to control multi-robots and to interact with various external devices, such as sensory devices or tools. In this thesis, a new robot programming language, KARL, is developed, which can drive multi-robots including welding robot and 3-D computer graphic simulator to certain robot programs. In KARL, teaching positions of robot arm can be performed with graphic design processor such a simple and easy way as using teach pendant. For easy handling of external devices in work cel control, KARL regrads them as external variables. In addition, KARL provides high-level computer programming facilities that allow professional programmers to develop special-purpose application programs for the less experienced operators.
