EXPA: A HIGH LEVEL LANGUAGE FOR ROBOT ARM CONTROL
| dc.contributor.advisor | Takaya, K. | |
| dc.contributor.advisor | Wood, H. C. | |
| dc.creator | Sarangapani, Jagannathan | |
| dc.date.accessioned | 2024-08-14T19:21:51Z | |
| dc.date.available | 2024-08-14T19:21:51Z | |
| dc.date.issued | 1989-11 | |
| dc.date.submitted | November 1989 | |
| dc.description.abstract | The performance of robotic devices has been significantly improved with the application of modem computer control. With these advances, robots can now be routinely used for a variety of industrial functions such as parts assembly, welding and painting. The task of programming the control computers remains tedious, however, and high level languages are necessary to reduce the programming effort. This thesis describes the development of a flexible high level robot programming language, which resembles the sentences of the English language, to perform trajectory planning, coordinate transformations, task execution, and path tracking. Both forward and inverse kinematics have been included, as well as manipulation software for point to point motion, joint interpolated motion, and cartesian motion. The language based on Pascal, is user friendly and portable, and has a graphical simulation capability to aid trajectory analysis and program development. The language has been used to successfully implement trajectories for an Excalibur robot in the laboratory. | |
| dc.identifier.uri | https://hdl.handle.net/10388/15901 | |
| dc.title | EXPA: A HIGH LEVEL LANGUAGE FOR ROBOT ARM CONTROL | |
| dc.type.genre | Thesis | |
| thesis.degree.department | Electrical Engineering | |
| thesis.degree.grantor | University of Saskatchewan | en_US |
| thesis.degree.level | Masters | |
| thesis.degree.name | Master of Science (M.Sc.) |