PasRo

1 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.