Conceptual Components for Robot Programming Systems

Programmers of robot arms and other complex articulated automatic devices must also deal with non-intuitive geometry. Programmers of mobile robots must deal with varied and unpredictable conditions as the robots moves through its environment.

Standard debugging tools give programmers access only to program data. This makes debugging robot programs difficult because program data is at best an indirect representation of the robot and environment.

The robot programming systems must be tailored more specifically to robotic, paying attention to the varied requirements of robot programs, the typical skills of robot programmers, the interactions between humans and robots, and the predominant programming constructs in robotic applications.

Robot programming systems have three important conceptual components that are of interest to their designers:
• The programming component, including designs for programming language, libraries and application programming interfaces (APIs).
• The underlying infrastructure including designs for architectures that support and execute robot behavior descriptions.
• The designs of interactive systems that allow the human programmer to interact with the programming component, to create, modify and examine programs and system resources, both offline and during execution.

There are other components that are not of particular concern to designers of robot programming systems, such as the robots themselves, operating systems, compilers, robot hardware drivers and so on.

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