Beschreibung
The second edition of PASRO - Pascal for Robots includes some new aspects of the PASRO development within the last two years. Besides the PASRO implementation on other computers with the help of different Pascal compilers and operating systems, one significant new development has been the implementation of the PASRO concept in the programming language C. Therefore the second edition is divided into two major parts: A. The revised and little extended "old" PASRO description of the first edition based on Pascal. B. The new PASRO/C description based on C. Of course we know that the name "PASRO/C· is a contradiction in terms, but we chose it, in order to use the well known name PASRO in future. The additional author John Favaro is respon sible for the PASRO/C implementation and the des~ription while Christian Blume designed the PASRO concept and implemented the original PASRO, together with Wilfried Jakob. Additional thanks are dedicated to Jan Schloen and Thomas Eppting, who helped us to implement PASRO/C. We would also like to thank all readers of the first edition, who sent us their comments and corrections. Amongst these, spe cial thanks to G. Macartney from the Queen's University of Bel fast.
Schlagzeile
Inhaltsangabe1 General Introduction.- A Pasro.- A.1 Introduction to PASRO.- A.2 Basic Facilities for Robot Programming.- A.2.1 Description of Robot Position and Orientation.- A.2.2 Concepts for Robot Programming Languages.- A.2.2.1 Frame Concept.- A.2.2.2 Trajectory Calculation and Robot Control.- A.2.2.3 Robot-Specific Programming Languages.- A.2.2.4 High Level Programming Languages.- A.2.2.5 NC Programming.- A.2.2.6 Implicit Programming.- A.2.2.7 Logical System Interfaces.- A.3 Concept of Data.- A.3.1 Pascal Data Types.- A.3.1.1 Record Types.- A.3.1.2 Array Types.- A.3.1.3 Pointer Types.- A.3.2 Predeclared PASRO Data Types.- A.3.3 PASRO Predeclared System Variables.- A.3.4 Arithmetic and Procedures.- A.3.4.1 Procedures and Functions.- A.3.4.2 Pascal Arithmetic.- A.3.4.3 PASRO Arithmetic Procedures.- A.4 Concept of Action.- A.4.1 PASRO Procedures for Robot Control.- A.4.2 PASRO Procedures for Gripper Control.- A.4.3 Traditional Program Flow Control.- A.4.3.1 Repetitive Statements.- A.4.3.2 Conditional Statements.- A.4.3.3 The GOTO Statement.- A.5 Program Structure.- A.5.1 Pascal Program Structure.- A.5.2 PASRO Structure.- A.6 Input/Output.- A.6.1 Traditional Pascal I/O.- A.6.2 I/O of PASRO Standard Data Types.- A.6.3 Robot Control.- A.6.4 Process I/O.- A.7 Integration of Teach-In.- A.7.1 Integration of Frames Defined by Teach-in into PASRO Programs.- A.7.2 Teaching-Frames by System Program "teachin".- A.8 Implementation.- A.8.1 General Structure.- A.8.2 The Industrial PASRO Extension.- A.9 How to Use the PASRO-System.- A.9.1 Introduction.- A. 9.2 Compiling and Linking.- A.9.3 Executing a PASRO Program.- A.10 PASRO Program Examples.- A.10.1 Palletizing.- A.10.2 Five-in-a-Row-Game (Gobang or Gomoku).- A.10.3 Towers of Hanoi.- A. 10.4 Telephone Dialing.- B PASRO/C.- B.l Introduction to PASRO/C.- B.2 Basic PASRO/C Facilities for Robot Programming.- B.3 Concept of Data in PASRO/C.- B.3.1 The C Preprocessor.- B.3.2 C Data Types.- B.3.3 Pointer Types in C.- B.3.4 Creating New Data Type Names in C.- B.3.5 Structured Data Types in PASRO/C.- B.3.5.1 Structured Types.- B.3.5.2 Array Types.- B.3.5.3 Static Initialization.- B.3.6 Predeclared PASRO/C Data Types.- B.3.7 PASRO/C Predeclared System Variables.- B.3.8 Expressions and Functions in PASRO/C.- B.3.9 Functions in C.- B.3.10 Arithmetic in C.- B.3.11 PASRO/C Arithmetic Procedures.- B.4 Concept of Action in PASRO/C.- B.4.1 PASRO/C Procedures for Robot Control.- B.4.2 PASRO/C Procedures for Gripper Control.- B.4.3 Traditional Program Flow Control in C.- B.4.3.1 Repetitive Statements in C.- B.4.3.2 Conditional Statements in C.- B.4.3.3 The GOTO Statement in C.- B.5 Program Structure in PASRO/C.- B.5.1 C Program Structure.- B.5.2 PASRO/C Structure.- B.6 Input/Output in PASRO/C.- B.6.1 Traditional I/O in C.- B.6.2 I/O of PASRO/C Standard Data Types.- B.6.3 Robot Control in PASRO/C.- B.6.4 Process I/O.- B.7 Integration of Teach-in in PASRO/C.- B.7.1 Integration of Frames Defined by Teach-in into PASRO/C Programs.- B.7.2 Teaching Frames with the PASRO/C System Program "teachin".- B.8 PASRO/C Implementation.- B.8.1 General Structure.- B.8.2 The Industrial PASRO/C Extension.- B.9 How to Use the PASRO/C System.- B.10 PASRO/C Program Examples.- B.10.1 Palletizing.- B.10.2 Five-in-a-Row-Game (Gobang or Gomuku).- B. 10.3 Towers of Hanoi.- B. 10.4 Telephone Dialing.- C Appendices.- C.1 Summary of PASRO Procedures.- C.2 Predeclared PASRO and Pascal Identifiers.- C.3 Predefined Data Types of PASRO.- C.4 Pascal Syntax Diagrams.- C.5 Summary of PASRO/C Procedures.- C.6 Predeclared PASRO/C and C Identifiers.- C.7 Predefined Data Types of PASRO/C.- C.8 C Syntax Diagrams.- References.
