Teach - a concurrent robot control language

Abstract

Many groups have created robot control lan guages, but few have dealt with concurrency in a systematic way. This is surprising in view of the fact that a robot system can be much more cost effective if tasks are executed concurrently rather than serially. This paper describes the TEACH robot control language and its supporting operating system. It addresses concurrency, device independence, and other issues related to manipulator control, task specification, and system operation.