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SEPTEMBER 1985 VOL. 7 NO 9 $3.00 USA/$3.

50 CANADA
STATE OF THE ART.
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Circle 18
Publisher

ROBOTICS
Chris Crocker
Editor
Carl T. Helmers, Jr.
Consulting Editors
Russ Adams
Rakesh Mahajan
Roberta Toth
Associate Editor --A G E-'"--
Stephanie vL Henkel THE JOURNAL o F NTELLIGENT MACHINES
Production/Design Director
Nancy Estle
Assistant Production Manager
Tobee Phipps SEPTEMBER1985 VOL. 7 NO. 9
Circulation Manager
James E. Bingham
Circulation Assistants
EDITORIAL
[o-Ann Howe
Lynn LeBritton 2 Control Abstractions by Carl Helmers
Dealer Accounts
Meredith Makela
Typography FEATURES
Sheryl Fletcher
Receptionist
Erin Lary
7 FORTH for Robot Control by George Dooley
The diversity of industrial robotics applications requires a highly flexible program-
Advertising Manager
Donna Louzier ming language. FORTH's extensibility and interactiveness make it an appropriate
Advertising Coordinator choice for real-time control.
Cheryl Wilder

Advertising Sales 10 KAREL: A Programming by Mitchel R, Ward


Brian R. Beihl Language for the Factory Floor and Kenneth A Stoddard
Robotics Age Inc. GMF Robotics is introducing a new programming language that will be part of
174 Concord Street
Peterborough, NH 03458 a full set of software development tools for robotic, vision, and cell controller
603-924-7136 projects.

15 RoboTalk: A New Language by H,S, Sandhu


to Control the Rhino Robot and Herbert Schildt
A robotic control language facilitates training a robot to perform complex tasks.
Member of
Business Publications Audit RoboTalk, an interactive language, is useful for both guiding a robot and instruct-
ing the user in the principles of programming.

20 Robotics and Industrial by Barbara K, Lindauer


Reeducation
ROBOTICS AGE-(ISSN 0197-19051 is published monthly by
Robotics Age Inc., Strand Building, 174 Concord Street, Peter-
The rise of industrial automation will create some new jobs and render others
borough, NH 03458, phone 16031924-7136. Address subscrip- obsolete. Essential to the factory or the future will be worker retraining pro-
tions, changes of address, USPC Form 3579, and fulfillment
questions to Robotics Age Subscriptions, 174 Concord Street, grams and technical school curricula that include robotics education.
Peterborough, NH 03458. Second class postage paid at Peter--
borough, NH and at additional mailing offices. POSTMASTER:
Send address changes to ROBOTICS AGE, 174 Concord St.,
Peterborough, NH 03458.
27 Using LOGO for Robot By B.J, Gleason
Subscriptions are $24 for one year (12 issues), $45 for two
years (24 issues), $63 for three years (36 issues) in the USA and
Simulation
its possessions. In Canada and Mexico, subscriptions are $28 The language used to draw pictures by directing a turtle robot to move can be
for one year, $53 for two years, $75 for three years. For other
countries, subscriptions are $32 for one year, surface delivery.
used to simulate a turtle, the room in which it travels, and the collisions that
Air delivery to selected areas at additional charges, rates upon occur. A response table can be built up In memory that reduces the number
request. Single copy price is $3 in the US., $3.50 in Canada
and Mexico, $4 in Europe, and $4.50 elsewhere. Foreign of collisions.
subscriptions and single copy sales should be remitted in United
States funds drawn on a US. bank.
Address all editorial correspondence tothe Editor at Robotics DEPARTMENTS
Age, Strand Building, 174 Concord Street, Peterborough, NH
03458. Opinions expressed by the authors of articles are not 4 Calendar
necessarily those of Robotics Age. To aid in preparation of ac-
ceptable articles, an Authors' Guide is available upon request, 6 Letters
if accompanied by a self-addressed 8V2 by 11 inch envelope
with first class postage for 3 ounces. Unacceptable manuscripts
26 Advertiser Index
will be returned if accompanied by a self-addressed envelope
with sufficient first class postage. Not responsible for lost
26 Classified Advertising
manuscripts or photos.
Each separate contribution to this issue, and the issue as a
31 In the Robotics Age
collective work, is © 1985 Robotics Age Inc. All rights reserved. 34 New Products
Copying done for other than personal or internal reference use
without the permission of Robotics Age Inc. is prohibited. Re-
quests for permission should be addressed in writing to Robotics
Age Permissions, Strand Building, 174 Concord Street, Peter- About the cover: The Rhino XR-Series robot, shown here in multiple exposures, is a popular instructional
borough, NH 03458. device. A programming language, RoboTalk, has been created specifically for the Rhino (see page 15).

ROBOTICS AGE September 1985 1


Editorial
Control Abstractions
BY CARL HELMERS

The year 1985 is a time for robotic languages, a time of creating development environment from GMF Robotics. The name was
new languages as well as of finding new uses for old ones. In this chosen in honor of Karel Capek, who, in his 1920 play, R.U.R.,
issue appear several articles on language themes. One discusses first introduced the word "robot." Karel's designers describe both
FORTH as a language to express algorithms in robotic applications. the language and the software tool system in this month's Robotics
Another introduces a new interpretive robot language called Age. What follows here are our reactions to Karel as we have come
RoboTalk. A third shows how a variant of LOGO can be used to to know it so far.
investigate the problems of simulating mobile robots. These We had our first taste of Karel this June at the GMF booth at
languages all represent different ways to express control abstrac- Robots IX and decided to learn more. At the end of June, the Karel
tions, the computer programs that implement the flow of automated team provided us with an advance copy of a users' manual and short-
processes. ly thereafter Ken Stoddard and Mitchel Ward sent a draft of their
Among the earliest successful methods for robot control was the article.
simple teach-by-example used with simple editing tools. In time, As a long-time collector of information about computer languages
robot systems engineers were able to add interpretive languages and their application environments, we were eager to dig deeper
as well as abstract expressions of traditional relay ladder diagram into this new language so we paid a visit to the GMF plant in Troy,
control expressions. Research laboratories have for some time now Michigan on our way home from this year's National Computer Con-
been tying FORTRAN, Assembly Language, FORTH, and other ference. GMF and its people were kind enough to give me a half
languages to real-world interfaces for robots. day of hands-on familiarization with the language, its tool environ-
Such languages and their implementations were a strong step ment, its developers, and its technical capabilities.
up the abstraction ladder from literal representation toward sym- At Robots IX we had observed Karel's resemblance to many block
bolic expressions for actions. Weare now seeing a further move structured languages-Pascal and Ada in particular. In 20 years
forward in languages and tools for robotic application. One such of working with computers we have at various times used FOR-
innovation is Karel, a structured high-level language and engineering TRAN, COBOL, VAL, PLll, XPL, and Pascal as primary languages.
We have also studied many other languages in engineering and
editorial work, including Modula II, Ada, C, LISP, SmallTalk,
LOGO, FORTH, APL, and BASIC. This language background and
the obvious tool philosophy of the GMF robot/environment builders
further kindled our enthusiasm. Karel is an interactive program
development environment for use by manufacturing engineers, and
lalJ-YO',,® not just another slow interpreter of a primitive BASIC-like language.
In developing our argument, we shall consider some of the criticisms
Technical that have been or might be leveled against Karel.

training SOME CRITICISMS OF KAREL

for the minds Every individual has preferences and every engineering applica-
tion has specialized aspects. Both come into play in choosing a
of the future in language for a particular purpose. Is Karel the "language to end
all languages"? No. Neither is FORTH, Pascal, Ada, Modula II or
any other language/environment combination. Karel is not any bet-
I Robotics I ter, or any worse, than many modern computer languages used for
specialized purposes. Much depends on the implementation. The
The robotics industry will gross $2 billion a year robot (including the circuitry contained on the
by 1990· and robotics manufacturers and the System's digital robot interface), troubleshoot GMF approach is not just a language, but a language plus a tool
industries they serve will need skilled techni- instructor-inserted electronic faults, and study
cians in increasing numbers to install, inspect, digital control of the robot.
set. Many faults that will be found with "yet another robot language"
maintain, and repair robots. The culmination of LAB-VOLT robotics train- will be based on a misunderstanding of its goals and aims.
ing is the actual control of the robot "mind,"
LAB-VOLT offers Robotics Training Systems
marking the completion of formal robotics
Karel is clearly not a general purpose real-time control language
that fully prepare skilled technicians to enter
the automated workplace through a combined training and the beginning of the robotics like Ada, C, or Modula II, although such languages might be ap-
program of rugged training equipment, hands- technician career.
on learning exercises, and programs that do
propriate for implementing a Karel environment. These more power-
more than teach the mechanics of a robot. Stu- Were ful languages grow unwieldy relative to an intentionally limited
dents also investigate

'Estimate
the electronics

by the Robotics
of the

Institute of America.
lalJ-YO',,® language implementation such as Karel. However, for those in-
terested in building applications, Karel will probably provide a more
P.O. Box 686 •Farmingdale, N.J.• 07727 useful and integrated design environment, precisely because it is
4555 Metropolitain E. • Suite 102. Montreal, Quebec, Canada. H1R1Z4 a limited tool specialized to a particular set of applications.
For example, the Karel language concept of a position vector-
Circle 13 location plus orientation-would have to be grafted onto the other
languages. Karel's strict separation of data and program, coupled
with a "teach" mechanism symbolically linked to the program, is
2 ROBOTICS AGE September 1985
an advanced level of abstraction that is neatly integrated into its engineer and the practicalities of fitting the engineering effort into
environment. One could use a modified subset of Ada (DOD types a large project. One of Karel's finer qualities is that it pays atten-
may rise in protest), C, or Modula II to control similar systems. tion to a rational software management philosophy while still at-
Such an augmented subset is not really the same language, however. tending to the interactive needs of the designer/programmer of the
If we are going to create a different language with extensions for application.
special purposes, why not call it by a different name? One of the The Karel language, as implemented, is only one component
powers of modern high-level language technology is that it permits of a tool environment. An advanced syntax-directed editor is also
custom designing of variant languages for specific and limited ap- part of that environment. Yes, there is a compile-execute mode of
plications. Each language, Karel included, can be designed with operation in Karel that FORTH and Modula II programmers com-
an application area in mind. This forms the philosophy of the plain about. But the interactivity of program experiments is still
development environment in which it will be placed. there; the only compilation errors possible are the significant ones.
Karel is not a graphic display and simulation language; its con- Compilations in a Karel development environment will not fail for
troller environment does not allow it to be. Nor is it necessarily trivial syntax error reasons as would be the case for compilation
the language in which one would express sophisticated pattern of nearly every programming environment to date. And, given the
recognition and vision system algorithms. But it is intended to be fact that the Karel system is a one-user system based on a super
the language which an applications engineer would employ to in- fast 32-bit microprocessor in the lab, only an extremely large pro-
tegrate a vision system into a Karel workcell by reference to ap- gram will require more than a few seconds' delay between editing
propriate libraries. These are more properly addressed by the and running. We observed numerous quick and convenient pro-
designers of such systems using languages in-which expression of gram development/change cycles during our time at GMF.
these problems is more natural. . Finally, there is that close tie between the language, its editor,
Karel's integration into an environment of robotic applications its operating system, and its physical hardware environment. Much
is a step up from the "monkey-see/monkey-do" approach of first- thought has gone into the Karel design as to the proper means
generation robot controllers. The expression of algorithms in sym- of communicating with the global hardware entities of the real
bolic form integrates naturally with the real-world data of move- manufacturing environment. These hooks are symbolic. They are
ment, paths, sensor input, and interrupts. Karel has the abstract also generic. Instead of machine-specific motor-by-motor control
power to express point data, plus the ability to tie such abstract of a robot and its joints, all computations and hardware directions
points to real-world locations, orientations, and information. Ex- are done in machine independent coordinates measured in stan-
pression of global system variables of the workcell is a natural and dard engineering units. Thus, distance components (X,Y, and Z)
symbolic part of Karel. of the Karel position vector are in millimeters and angles are in
degrees. With the generic expression of algorithms, it is possible
to make specific instances convenient to modify and debug using
SOFTWARE MANAGEMENT PHILOSOPHY the teach pendant and its symbolic links to the program's source
Perhaps the most persuasive argument for using a block struc- text.
tured language such as Karel is a clear understanding of its en-
vironment. The following could be an argument for anyone of a
number of related languages such as Karel, Pascal, Ada, Modula IN CONCLUSION ...
II, PUl-even C. The robots and robotic systems of the future are From what we have seen, Karel is an excellent software environ-
not going into isolated, stand-alone environments. Theyare going ment approach to the problem of applying industrial automation
to be installed in a modern industrial organization in which the at the workcellievei. As such, it is an integrated environment that
management problems of the real world are a major consideration. provides the engineer with a set of easily understandable tools. Even
Structured languages-the "algol-like" family-are well adapted to if there were no further developments-such as completion of a
managing large projects with real-world engineering personnel. stand-alone personal computer-based off-line version of the
In the real world of projects, people come and people go. A well environment-Karel would be a highly desirable tool for practical
documented program is the only solution to the inevitable person- application. •
nel turnover in engineering/programming staffs. A figure not
unknown in computer technology is the "lone wolf," a creative pro-
gramming genius who hardly communicates with his fellow
creatures. A management that overly depends on an engineer who
happens to be a lone wolf is headed for real trouble. What hap-
pens if the genius quits and takes all his mental documentation
MOVING?
Please be sure to send us both your old address and your new one. You may attach
with him? The last thing a plant manager responsible for a robotics your mailing label from the magazine cover, or print your name and address exactly
installation needs is a software engineering philosophy that com- as it appears on the mailing label. Allow eight weeks for processing.

pletely bypasses complete and detailed documentation. Old Address


Languages that encourage experimentation are important to the 0:--------- ~~-------.
Name Company
development process and the quick, interactive test is the model ----~~~
sought by many designers. The problem comes in weighing interac- Street

tiveness against the design documentation goal. Not all computer --::--- ----
Town/City State Zip
languages encourage documentation-oriented programming, but a
well designed program in a modern structured programming New Address
language can be its own design document. When comments are Name Company
used cleverly. any programming language can be made to produce ;:-5(r-ee-(------- .---- ----------
eminently readable documentation of their functions. With block
structured languages like Pascal and its progeny, including Karel, Town/City State Zip
the documentation of the program is the program. Mail to:
Before the modern era of powerful inexpensive computers there Robotics Age/Subscriptions, 174 Concord St., Peterborough, NH 03458
was a balancing act between the interactive needs of the design

ROBOTICS AGE September 1985 3


Calendar
York, NY 10017, telephone (212) tact: EMO General Commissariat, neers, One SME Dr., PO Box 930,
SEPTEMBER 867-919l. Messegelande, 0-3000 Hannover Dearborn, Mi 48121, telephone
82, Federal Republic of Germany. (313) 271-1500, ext. 368.
4-6. ORCAL '85 Expo. Anaheim 10-l2. Midcon/85. Chicago,
iL. Contact: Nancy Hogan, Elec-
Convention Center, Anaheim, CA. 18-19. International Congress
Contact: Public Relations Dept., tronic Conventions Management, for Metalworking and Automation, 23-27. Mathematical Modeling
Society of Manufacturing Engi- 8110 Airport Blvd., Los Angeles, Hannover, Federal Republic of & Simulation. Sheraton National
neers, One SME Dr., PO Box 930, CA 90045, telephone (213) Germany. Contact: EMO Gener- Hotel, Arlington, VA. Contact:
Dearborn, MI 48121, telephone 772-2965. al Commissariat, Messegelande, Continuing Education Institute,
(313) 271-0777, or Public Rela- 0-3000 Hannover 82, Federal 10889 Wilshire Blvd., Los Angeles,
11-12. Mid-Atlantic Electronics
tions Dept., American Society for Design and Production Exhibition Republic of Germany. CA 90024, telephone (213)
Metals, Metals Park, OH 44073, and Conference '85. Valley Forge 824-9545. (To be repeated 4-8
telephone (216) 338-515l. 18-20. Machine Vision in Elec- November in Los Angeles, CA.)
Convention and Exhibit Center,
King of Prussia, PA. Contact: in- tronics Manufacturing: A Hands-
4-6. AIAA/NASA Symposium On Clinic. Omni Hotel, Baltimore, 24-25. Sensing Robots for the
ternational Marketing Services
on Automation, Robotics and Ad- Ltd., 1719 S. Clinton St., Chicago, MD. Contact: Society of Manufac- Automotive Industry Seminar.
vanced Computing for the Na- iL 60616, telephone (312) turing Engineers, Special Pro- Detroit, MI. Contact: Robotic in-
tional Space Program. J.W. Mar- grams Dept., One SME Dr., PO dustries Association, PO Box 1366,
421-7000.
riott Hotel, Washington, D.C. Con- Box 930, Dearborn, MI 48121, Dearborn, Mi 48121, telephone
tact: Louis P. Clark, Program 11-13. Fifteenth International telephone (313) 271-1500. (To be (313) 271-7800.
Chairman, NASA Headquarters, Symposium on Industrial Robots. repeated 23-25 September in
Code DE, 600 Independence Ave., Keidanren Kaikan Bldg., Tokyo, Baltimore, MD.) 30-4 October. Knowledge-Based
Washington, D.C. 20546, tele- Japan. Contact: Mr. Y. Komori, Computer Vision. and Expert
phone (202) 453-1883, or Pamela Organizing Secretary, 15th iSiR, 19-20. Microcomputers in Man- Systems: Applications in Robotics
Edwards, Program Administrator, Japan Industrial Robot Associa- ufacturing. San Francisco, CA. and Control. The Turing institute,
AiAA Headquarters, 1633 Broad- tion, Kikai Shinko Kaikan Bldg., Contact: Bob Stearn, The Yankee Glasgow, Scotland. Contact:
way, New York, NY 10019, 3-5-8, Shibakoen, Minato-ku, Group, 89 Broad St., 14th Floor, George House, 36 N. Hanover St.,
telephone (212) 408-9778. Tokyo, 105, Japan. Boston, MA 02110, telephone Glasgow G1 2AD, Scotland,
(617) 542-0100. telephone (041) 552-6400.
6-8. international Personal 16-19. Finishing '85 Conference
Robot Congress & Exposition. and Exposition. Cobo Hall, 20-21. The 7th Annual FORTH
Moscone Center, San Francisco, Detroit, MI. Contact: Finishing '85, Convention. Hyatt Rickeys Hotel,
OCTOBER
CA. Contact: Sharon D. Smith, Association for Finishing Processes Palo Alto, CA. Contact: FORTH
Chair, iPRC '85 Organizing Com- of Society of Manufacturing Interest Group, PO Box 8231, San
mittee, 8822 S. Martin Lane, Con- Engineers, One SME Dr., PO Box Jose, CA 95155, telephone (408) 1-3. Dallas/Fort Worth Tool &
ifer, CO 80433, telephone (303) 930, Dearborn, Mi 48121, 277-0668. Manufacturing Engineering Con-
674-5650. telephone (313) 271-1080. ference and Exposition. Infomart,
23-24. EMCA Regional Semi- Dallas, TX. Contact: Public Rela-
9. Semiconductor Equipment 16-20. Knowledge Engineering nar. Sunnyvale Hilton, Sunnyvale, tions Dept., Society of Manufactur-
Communications Standard for Workshop. Expert Knowledge CA. Contact: Electronic Motion ing Engineers, One SME Dr., PO
Factory Automation. San Jose, Systems, inc., McLean, VA. Con- Control Association, 230 N. Box 930, Dearborn, MI 48121,
CA. Contact: Jack Ghiselli, GW tact: M. James Naughton, Ph.D., Michigan Ave., Chicago, IL 60601, telephone (313) 271-1500, ext.
Associates, Inc., 645 Mills Ave., President, Expert Knowledge telephone (312) 372-9800. 293.
Los Altos, CA 94022, telephone Systems, inc., 6313 Old Chester-
(415) 948-2896. (To be repeated brook Rd., McLean, VA 22101, 23-24. Robots in Clean Room 2-4. Developing Careers: issues
20 September in Boston, MA.) telephone (703) 734-6966. Applications. 25-26. Automated for Engineers and Employers.
Electronic Assembly. Sheraton- Royal Sonesta Hotel, Boston, MA.
9-10. Second international Con- i7. Technology of Computer in- Hartford Hotel, Hartford, CT. Con- Contact: William R. Anderson, In-
ference on Advanced Robotics. tegrated Manufacturing. Sunnyvale tact: Diane M. Korona, Program stitute of Electrical and Electronics
Keidanren Kaikan Bldg., Tokyo, Hilton, Sunnyvale, CA. Contact: Adminstrator, Robotics interna- Engineers, Washington, DC office,
Japan. Contact: Mr. A. Yasutake, Rich Karlgaard, Warr, Foote & tional of the Society of Manufac- 1111 19th St., N.W., Suite 608,
Organizing Secretary, Japan in- Rose, III Main St., Suite 3, PO turing Engineers, One SME Dr., Washington, DC 20036, telephone
dustrial Robot Association, Kikai Box 1290, Los Altos, CA 94023, PO Box 930, Dearborn, MI48121, (202) 785-0017.
. Shinko Kaikan Bldg., 3-5-8, telephone (415) 941-2820, or Dr. telephone (313) 271-1500, ext.
Shibakoen, Minato-ku, Tokyo, 105 Robert W. Atherton, Sentry CIMS, 390. 8-10. International Robot Con-
Japan. Four Main St., Los Altos, CA ference and Exhibition del-
94022, telephone (415) 949-3860. 23-25. Space Tech '85. Disney- phia Civic Ce • ia,
9-11. OEM Design '85. Philadel- land Hotel Convention Center, PA. onference
phia Civic Center, Philadelphia, 17-25. EMO Hannover. Han- Anaheim, CA. Contact: Gregg M 0., 331 W. Wesley
PA. Contact: Penton Exposition nover Fairgrounds, Hannover, Balko, Technical Activities Dent., St., heaton,iL 60187, telephone
Division, 122 E. 42nd St., New Federal Republic of Germany. Con- Society of Manufacturing Engi- (312) 668-8100.

4 ROBOTICS AGE September 1985


Circle 7

Calendar Robot Feeders


You can now match the ultra efficiency of
8-11. FASTEC '85 Conference. Capital Goods Trade Fair, 6200 robotic equipment in your manufacturing or
Georgia World Congress Center, Riverside Dr., Cleveland, OH assembly operations with programmable low
Atlanta, GA. Contact: Patricia 44135, telephone (216) 676-6000.
profile conveyors to provide precision rriove-
Jones, Society of Manufacturing
Engineers, One SME Dr., PO 20-23. International Symposium ment of parts to and from automated stations.
Box 930, Dearborn, MI 48121, on Laboratory Robotics '85. Dorner engineers have designed state-of-the-art
telephone (313) 271-1500, ext. Boston Park Plaza Hotel, Boston, systems for some of the nation's leading
377. MA. Contact: Gerald L. Hawk, manufacturers.
Ph.D., or Janet Strimaitis, Zyrnark
9-11. Robots East. Bayside Ex- Corp., Zymark Center, Hopkinton, Send for our 'Idea Starter'
position Center, Boston, MA. Con- MA 01748, telephone (617)
tact: Jeff Burnstein, PR Manager, 435-9501. catalog on custom systems
Robotic Industries Association, PO 580 Industrial Dr., Hartland, WI 53029
Box 1366, Dearborn, MI 48121, 21-24. ISAi85 COMPUTEC. Phone 414/367-7600· Telex 26-0358
telephone (313) 271-7800. Philadelphia, PA. Contact: Fred E.
Gore, Fisher Controls Interna-
15-17. DevelopingRobot Work· tional, Inc., 8301 Cameron Rd.,
cells. Norcross (Atlanta), GA. Con- Austin, TX 78753, telephone (512)
tact: Diane Korona, Program Ad- 834-7066.
ministrator, Society of Manufactur-
ing Engineers Special Programs 22-23. Robot Justification
Dept., One SME Dr., PO Box 930, Workshop. Chicago, IL. Contact:
Dearborn, MI 48121, telephone Robotic Industries Association, PO
(313) 271-1500, ext. 390. Box 1366, Dearborn, MI 48121,
telephone (313) 271-7800.
15-17. The 4th International
Conference on Flexible Manufac- 22-24. SATECH '85: Systems &
turing Systems. The 3rd Interna- Applied Technology Conference &
tional Conference on Automated Exhibition. O'Hare Expo Center,
Guided Vehicle Systems. The 6th Chicago, IL. Contact: SATECH SAVVY FOR ROBOT CONTROL
International Conference on '85,2472 Eastman Ave., Bldg. 34, The SAVVY system is a revolutionary new user-friendly programming language. It

Automation in Warehousing. Ventura, CA 93003, telephone approaches


to-any-Ianguage
artificial
cross
intelligence
compiler
and
for robot
lends itself to easy preparation
control. SAVVY
of a SAVVY-
is used in the RB5X Robot
Alvsjo Trade Fair and Conference (805) 656-0933. Control Language.

Centre, Stockholm, Sweden. Con- REVOLUTIONARY FEATURES

tact: IFS (Conferences) Ltd., clo 25-27. Forth Modification Lab- THE ASSOCIATE COMMAND: ADAPTIVE PATTERN RECOGNITION
You can ASSOCIATE any new PROCESSING:
Stockholm Convention Bureau, oratory (FORML). Stettenfels Cas- combination of letters and numbers with SAVVY can figure out what you mean
existing combinations of letters and even if you misspell words or forget an exact
Box 1617, S-l11 86 Stockholm, tle, Frankfurt, Germany. Contact: numbers. Once you are familiar with the
language's primary commands (key-
command or task name. If, for example, you
were writing a program to control a robot
Sweden, telephone (0) 8 23 09 90; Forth Interest Group, PO Box words), you can associate one or two
keystroke combinations that make sense to
and entered the command
FORWRAD when you intended
MVOE
MOVE
or IFS (Conferences) Ltd., 35-39 8231, San Jose, CA 95155, you with the primaries or with tasks you
have written yourself. You can, in fact,
FORWARD, SAVVY's pattern recognition
would recognize MVOE FORWRAO as
High St., Kempston, Bedford telephone (408) 277-0668. associate many different letters, words, or
combinations of words to the same primary
being close to MOVE FORWARD; it would
correct the spelling and proceed as if
or task. This allows SAVVY to respond
MK427BT, England, telephone correclly to a wide variety of statements and
nothing was wrong. If, on the other hand
you entered a command which was "erose"
programming styles.
(0234) 853605. 28-29. Automation Means Bus- to several possible commands
ambiguous, such as entering MOVE, SAVVY
but

EASY TO USE: would respond with a display indicating the


iness. Hyatt Regency, Chicago, IL. Syntax checking: The Pattern neccc- ambiguity:
nil ion feature has the effect of a very good
17-18. National Conference and Contact: Robotics Industry Service, syntax checker as it monitors the entries
·'I"m
Is
nOI sure what Move ,ere,s 10.
il one 01 these:
you make while creating a task. It corrects 1.MOVE FORWARD

Exposition on Robotics and Dataquest Incorporated, 1290 Rid- typing errors as you go and prompts you
2.
3.
MOVE BACKWARD
MOVE FORWARD SLOWLY
when it doesn't understand what you are 4. Or none 01 Ihe above
Automated Systems. Hilton Inn der Park Dr., San Jose, CA telling it. Please Iypethe ncmber otthe correct answer ..
Structure checking: The language in~ When you type in the number of the
Bossier, Bossier City, LA. Contact: 95131-2398, telephone (408) eludes a structure checker, the monitors
loops and conditional statements. The
command you really want, SAVVY pro-
ceeds to execute that command. The more
Dr. R. Michael Harnett, Meeting 971-9000. language alerts you to structure errors and
will not save or execute a program until they
words and phrases you teach SAVVY,
the better it will utilize pattern recognition.
Chairman, Office of the Dean, Col- have been corrected.
Naturally. SAVVY will not catch all of your
ORDERING INFORMATION
logic errors, but it will let you know when it
lege of Engineering, Louisiana can't do what you ask and it will give you
SAVVY for the APPLE II .;. and lie avail-
able in single unit purchases for $375. UPS
ideas of the kinds of things it can accept.
Tech University, PO Box 10348 NOVEMBER paid COO orders add $5.00 handling.
Substantial discounts for quantity

T.S., Ruston, LA 71272, telephone purchases are available

SAVVY is also available for the IBM~PC and clones.


(318) 257-4647. 4-7. AUTOFACT '85 Confer-
ence and Exposition. Cobo Hall, !Aiiiiiiil TECHNICAL INFO-WE CAN HELP. CALL
~ Shipping Over $200 Add 4%. $200 And Under Add 5%.
18-27. 1985 International Capi- Detroit, MI. Contact: Tom Akas, Cash With Order Deduct 3%. N.M. Orders Add 5% Sales Tax.
Allow 4 Weeks For Delivery.
tal Goods Trade Fair. Interna- Group Manager, Public Relations,
tional Exposition and Trade
Center, Cleveland, OH. Contact:
Computer and Automated Systems
Association/SME, One SME Dr.,
RIO GRANDE ROBOTICS 1-lG-
Sandy Hensel, Director of Public PO Box 930, Dearborn, MI 48121, A Division of Mobile Intelligence Corporation.
1595 W. Picacho #28, Las Cruces, N.M. 88005, Tel. (505) 524·9480
Relations, 1985 International telephone (313) 271-1500.
Circle 15 ROBOTICS AGE September 1985 5
Circle 17

ROBOTIC COMPUTERS, INC. Calendar Letter


ROBOJOY"
AN INTELLIGENT DUAL JOYSTICK TEACH PENDANT
NOVEMBER
6-8. Computer Integrated Man-
Star Wars
Defense Rebutted
ufacturing: Practical Applications I am always pleased to see issues
• Compatible with in Your Plant. Washington, D.C. of social concern addressed in
all controllers
Contact: CliffHopkins, Continuing technical magazines such as
having an RS-
232C serial
Engineering Education, the Robotics Age. Society requires the
interface
George Washington University, input of its technically competent
• Protocols con- Washington, DC, 20052, tele- citizens for survival in our age.
figurable by phone (800) 424-9773 or (202) The May editorial entitled "Ex-
your controller 676-852l. istence Proof ... " makes some in-
• Factory proven correct assertions regarding the
• OEM agreements L.~~ __~;:F~~~==::;::~?=:J 12-13. Robot Control Systems President's Strategic Defense Ini-
available Workshop. Cincinnati, OH. Con- tiative (SOl). The astounding
tact: Robotic Industries Associa- technological requirements for a
WITH ROBOJOY: tion, PO Box 1366, Dearborn, MI system that can destroy ICBMs in
•Set-up and program by non-technical 48121, telephone (313) 271-7800. flight are well documented (see, for
personnel example, Scientific American, Oc-
• Decrease robot training time 12-14. Chicago Tool & Manufac- tober 1984). Although the capabil-
• Reduce manufacturing expenses turing Conference & Exposition. ity of destroying a missile with a
O'Hare Exposition Center, Rose- beam of energy has been
• Increase robot utilization
mont, IL. Contact: Public Relations
r.; Robotic Computers, Inc.
Dept., Society of Manufacturing
Engineers, One SME Dr., PO Box
demonstrated, the vast majority of
experts has concluded that at no
time in the next several decades
602 Park Point Drive, Golden, Colorado 80401 • 3031526·0100 930, Dearborn, MI 48121, will nuclear weapons be rendered,
Teach pendants telephone (313) 271-0777. as the President said, "impotent
Custom workcell controllers Consulting services
and obsolete." Let us assume these
13-15. Robot Assembly in the critics are wrong and that a 100
Electronics Industry. Orientation percent kill ratio may be obtained
into Machine Vision. Robot Safe- by the "Star Wars" system. There
ty. (One day each.) San Jose, CA. is still nothing to stop the Soviets
Contact: Robotic Industries from shifting to cruise missiles,
Association, PO Box l366, Dear- bomber aircraft, and submarines
born, MI 48121, telephone (313) for weapons delivery.
271-7800. The possibility that nuclear
weapons will be made obsolete by
13-15 and 18-20. Machine Vi- Star Wars is zero. A Star Wars
sion in Automotive Manufactur- system will never protect all our
ing: A Hands-On Clinic. Ann Ar- people, but it might protect some
bor, Ml. Contact: Joanne Rogers, of our missiles. A greater degree of
SME Special Programs Div., Socie- safety for the populace might be
ty of Manufacturing Engineers, obtained with Star Wars only if the
One SME Dr., PO Box 930, Dear- number of ICBMs on both sides is
born, MI 48121, telephone (313) reduced. President Reagan is los-
271-1500, ext. 399. ing any chance for obtaining this
reduction by insisting on pro-
20. R & D Limited Partnerships ceeding with SDI. Without a reduc-
Seminar. Robot Export Seminar. tion pact, SOl will serve only to
INTERFACE YOUR CIRCUIT TO HERO 1* WITH A Detroit, Ml. Contact: Robotic In- destabilize relations with the
DynaComp MOTHERBOARD
-or plug in one 01 ours:
dustries Association, PO Box 1366, Soviets.
Kits with complete assembly and operation manuals: Dearborn, MI 48121, telephone I urge you to reexamine the
HK·100 5 Slot Motherboard complete with cables. 129.95
(313) 271-7800. technology and strategy underlying
HK·101 32K Memory Expansion holds 6116, 6264, 2716, or 2732 memory chips
(not included). 54.95 the Strategic Defense Initiative.
HK-102 Serial 1/0 has handshaking, EPROM software, without cable 89.95
HK·103 Perfboard Wire Wrap Card Set (2 included) 29.95
20-22. Expert Systems Short There exists technology that
HM·10x Manual only lor HK-10x above (price applies toward kit purchase) 20.00 Course. Monterey, CA. Contact: should not be developed, and Star
HK-104 SAVE-All four kits only 275.00
Continuing Education Institute, Wars is such a technology.
*HERO I is trademark of Heath Company
Tech. No. '-901-382-7614
DynaComp 10889 Wilshire Blvd., Los Angeles,
co Order No. 1-800-237-8400 ext 170 3617 Beechollow Drive CA 90024, telephone (2l3) Scott A. Walter
In FLA 1-800-282-1469 ext 170 Memphis, TN 38128
Q)
824-9545. (To be repeated 4-6 PO Box 10973
1! Add S2.00 per item shipping. TN orders add 7.75% sales tax. Allow 2·4 weeks lor delivery. VISA and MasterCard accepted.
G L-~~~~~~~~~~~~~~~ __ ~ __ -J December in Columbia, MD.) Stanford, CA 94305
6 ROBOTICS AGE September 1985
FORTH FOR
ROBOT CONTROL George Dooley
Real-Time Devices
PO Box 906
State College, PA 16804

Software is the critical element for any candidate robotics languages. BASIC, communicate in his or her native language.
robotics application. Robots are inherently although interactive and easy to learn, is A computer language should show the
real-time devices and present the software unstructured, slow, and not easily ex- same flexibilityas a human language; when
developer with unique and often extraor- tended. FORTRAN also is popular and a new situation or process arises, new
dinarily difficult problems. Robotics soft- fast but unstructured, not easily extended, words can be created to describe and con-
ware differs from other applications in that and inflexible. The only means of extend- trol it. Automation language must en-
nearly all robot control software is ing BASIC and FORTRAN is by adding courage the creation of new language ex-
customized to specific industrial assembly language calls to the language. tensions that appear to the user as human
requirements-one robot might be spray PASCAL and C, both structured lan- language but remain fast and efficient in
painting a car or turning a bolt while guages, are not usually implemented in- implementation.
another robot of similar design might be teractively. Their typical implementation The vertical hierarchy allows the user to
welding. Robotics software must take in- is stuck in an EDIT-COMPILE-LINK- link together language primitives to create
to account the widely disparate uses to DEBUG cycle that can be limiting to new commands specific to the application.
which robots are put. No single piece of creativity and productivity. These For use in robotics, the programmer can
application software can effectivelycontrol languages are often unsuitable for robot create commands to control various parts
every robot. A suitable robotics language control. of the robot. These commands can, in
must be adaptable to a variety of real-time FORTH was invented in 1969 by turn, be used to create other words of in-
applications. Charles Moore to control radio telescopes. creasing power, complexity, and abstrac-
The special characteristics a robotics The language arose from his frustration tion. Thus, programming in FORTH con-
programming language needs are these: with traditional languages as inflexible and sists of extending the root language to
• Transportable. The programs gen- unsuitable for control applications on a create another language and solving the
erated by the language should be easi- machine with limited resources. In problem in this new language. FORTH has
ly converted to run on a variety of developing FORTH,Moore created a accurately been described as a "meta-
computers. novel and effective method of solving com- language," a language for writing
• Readable/Modifiable. The program plex automation problems. Abandoning application-oriented languages. As such,
language should be easily read and traditional languages with their rigidly its character is entirely different from the
understood so that it can easily be fixed syntax, he created a stack-oriented formal flavor of conventional computer
modified. language that is extensible and highly languages.
• Generalizable. The program should be interactive. For example, to sample an analog-to-
easily adapted to new hardware. FORTH is constructed around digital converter we might create a word
• Interactive. The program should be vocabularies. The root vocabulary is a col- called ADC that would take care of begin-
easily and quickly tested with the hard- lection of basic "words" or commands. ning the analog conversion, testing for
ware in actual use. (A running dialog Writing programs in FORTH consists of completion, and reading the results. All
between system and programmer defining new words made up from se- the programmer has to do is enter ADC
occurs.) quences of already existing words. A ver- and the result is left on the stack. The
• Debuggable. Errors should be easy to tical hierarchy can be developed, starting word ADC actually becomes part of the
correct. with low-level"primitives," and continuing language and can be used to create addi-
• Vertical. The program should be low- toward more and more complex, abstract tional commands. Any word could have
level and high-level at the same time. words. been chosen to name this process, but
• Extensible. The language can be made Verticality is an important property of "ADC" is convenient for mnemonic
more powerful by adding to its ar- a robot control language. An effective recognition.
chitecture, allowing new structures to language must be a compromise between A structured language is desirable for
be "grafted" to itself. the computer that understands only binary robotics applications so that a project can
Let us now survey some of the other logic levels and the user who prefers to be implemented in the correct top-down
ROBOTICS AGE September 1985 7
manner. Adherence to the principles of use that programmers often find words expect or leave their results on the
structured programming makes a program themselves writing a small program or just stack and the speed penalty is small.
easy to understand, debug, and change. playing around to see what happens. Often Conventional wisdom says that all in-
BASIC and FORTRAN, being unstruc- what happens is something significant that teractive languages are slow. Yet, FORTH
tured, are not suited for producing and sheds light on the process and allows a executes as fast as, or faster than other
maintaining large, complex control pro- deeper understanding of it. high-level languages. It also provides full
grams. Structured programming promotes The importance of an interactive access to the computer's hardware.
careful program design and provides a language cannot be overemphasized. FORTH is as comfortable twiddling the
means of controlling the runaway complex- BASIC is burned permanently into ROM bits at some controller port or reading a
ity of software. Unstructured programming in millions of home computers, not robot's sensor as it is creating powerful
results in programs of "spaghetti code." because it is particularly powerful, elegant, high-level commands. FORTH is fast
Such code is difficult to maintain and even or structured but because it is interactive. because it compiles into a sequence of calls
to comprehend. A well designed structured Human beings love to see the results of to the root kernel, which is a set of
program can readily accommodate their work immediately. FORTH users machine language routines.
changes in computer hardware. Languages often draw an analogy between program- Many commercial versions of FORTH
like Pascal (and, to some extent, C) carry ming and painting a picture. Imagine the have descended from the public domain
the structured programming idea of data frustration a painter would feel having to FORTH Interest Group (FIG) version. FIG
and program constructs to a logical wait 10 to 15 minutes to see the effect of FORTH is useful for introducing the
conclusion-at the expense of inter- each single brushstroke. This is exactly the language to the public and is suitable for
activeness. situation programmers face when they use smaller control applications. For more
An interactive language is important for a traditional high-level language in their sophisticated applications, PolyFORTH
the rapid software development that keeps conventional implementation. An editor is from FORTH, Inc. may be more useful.
programming costs down. A language that used to enter source code, the source must PolyFORTH is a professional system
provides the necessary tools to write soft- be compiled and linked, and finally ex- geared toward high-performance applica-
ware rapidly permits alternative routes to ecuted to detect any bugs. The process is tions and includes some features that FIG
be programmed and explored to create the laborious, time-consuming, and required descendants lack. For example, Poly-
best software model. Charles Moore refers for each program change. This time delay FORTH has TICKS, a 32-bit variable that
to this aspect of FORTH as "seren- hinders the creative process, breeds contains the number of milliseconds since
dipitous" in that the language lends itself frustration, and discourages experimenta- midnight, an invaluable piece of informa-
to accidental discoveries. It is so easy to tion. FORTH breaks out of this EDIT- tion for real-time control. PolyFORTH
COMPILE-LINK-DEBUGcycle because its also provides a turnkey compiler (to
compiler and editor are FORTH words generate stand-alone applications), sealed
BRDSHlESS and it does not need a linker. A FORTH
word can be defined interactively and
vocabularies, and multiuser capabilities.
Unlike many other commercial versions,

COMMDTATING tested exhaustively before it is incor-


porated into a higher-level definition.
FORTH's approach to productivity is to
PolyFORTH supports a number of
background tasks. Multitasking is impor-
tant for robots since they must often per-

RESOlVERS break down the traditional barriers be-


tween language, utilities, and operating
system.
form their tasks, monitor other situations,
and manage communications in real time.
A new development is the recent release
The stack orientation of FORTH is its of the NC4000A single chip FORTH
most often criticized characteristic: engine from Novix, Inc., 10590 N. Tan-
"FORTH would be such a great language tau Ave., Cupertino, CA 95014. Designed
if it weren't for the reverse Polish by Moore, the chip directly executes high-
nonsense." In fact, the reverse Polish stack level FORTH at 10 million operations per
orientation is a powerful and fast method second, faster than some mainframe com-
of passing arguments between words. In puters. Such capability in a single chip sug-
traditional languages, subroutines are a gests that FORTH will not only survive,
Single and multispeed pancake useful means of executing a frequently but willhave robotics application for some
resolvers complete with rotary trans-
former for true brush less operation. used piece of code. A heavy speed penal- time to come.
Accuracies available to 10 arc seconds. ty is paid for the use of subroutines in
Data available on these units as well other high-level languages since each George Dooley is vice president of Real-Time
as other product lines including Devices.
Brushless Torque Motors, Torqsyn parameter is passed to the subroutine
Remote Positioners, and Standard through an indirect and complicated route
Synchros and Resolvers.
and each argument returned is passed Reader Feedback
Vernitron Control Components
A Division of Vernitron Corporation through this same circuitous process. To rate this article, circle the appropriate number
L{) 1601 Precision Park Lane
FORTH's words act much like on the Reader Service card.
(\J San Diego, CA 92073
Tel. 619-428-5581
(])
subroutines, except that instead of being 70 80 90
"2 TWX: 910-322-1862
Excellent Good Fair
o called they need only be invoked. FORTH
8 ROBOTICS AGE September 1985
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KAREL: A PROGRAMMING
LANGUAGE FOR THE
FACTORY FLOOR Mitchel R. Ward
and
Kenneth A. Stoddard
GMF Robotics
560b New King St.
Troy, MI 48098

During the last decade, robots and • a user language with applicability to
robotic applications have evolved from robot controllers, vision systems, and
simple pick-and-place operations, which cell controllers
put heavy emphasis on the motions that The market/customer requirements
the robot performed, to sophisticated were established as:
systems in which the motions are only one • a language powerful enough to satisfy
small portion of the program. Motion has the above two criteria
become less important than program con- • a language factory personnel could
trol logic, interfacing, communications, learn and use without extensive
operator interaction, and program com- training
putation. It is not uncommon today for 80 • a program development support sys-
to 95 percent of a robot program to be tem that could be used for off-line
composed of nonmotion constructs. program development as well as the
In the late 1970s and early 1980s, the on-line programming typically found
first generation of "language-based" in- in plant applications
dustrial robot controllers appeared. Ex-
THE KAREL LANGUAGE
amples of these are VAL [1], Rail [2], and
Although the language itself incor-
AML [3]. These systems were in one way The Karel control cabinet door has been opened to
or another derived from the first robot reveal the keyboard and screen (left) and the porates features found in many other
language developed at Stanford Universi- operator's panel (right). On the far right of the languages, its integration into a system of
ty, WAVE [4], and its successor AL [5].
cabinet is a fused flange power disconnect switch. software tools makes the programming
The teach pendant hangs on the front of the cabinet and operation of a Karel language pro-
. First-generation languages had simple con- .below the keyboard.
gram unique. Karel is a high-level pro-
trol structures (IF eOTO), integer arith-
Karel is a new second-generation robot gramming language that combines certain
metic, limited coordinate transformations,
language recently created and im- features of Pascal, some characteristics of
limited user interrupt handling,
plemented at eMF Robotics [7]. Karel is first-generation robot programming lan-
keyboard/CRT input/output (I/O), and
also supported on eMF vision and off-line guages, and finallysome extensions unique
relatively slow interpretive execution.
programming products and will be the to Karel. The structure and syntax of Karel
In 1983, the first of the second genera-
tion of robot languages, VAL-II [6], was in- basis of eMF cell control products. are designed to provide a language that is
troduced. Second-generation languages easy to learn for simple applications while
are characterized by complete control DESIGN PHILOSOPHY providing the sophistication and power
structures, varied data types with full necessary for advanced applications involv-
The design philosophy for Karel was to
arithmetic support, powerful user interrupt ing sensors, communications, a high
develop:
handling with process control support, full degree of operator interaction, and exten-
• a user programming system to sup-
I/O including teach pendant and secondary sive process control.
port special-purpose application soft-
storage, and faster user program execu- ware development on top of (not Simple Data Types. Karel provides four
tion. within) the basic controller basic scalar data types: integer, real, string,
10 ROBOTICS AGE September 1985
ROBOTICS AGE BACK ISSUES
SUMMER 1979: Digital Speed Control of DC Motors; Industrial JANUARY 1984: Robots in Batch Manufacturing; Super Ar· Product Notes: The String Computer; A Biological Model for
Robets 79; Introduction to Robet Vision; The Grivet Chess-Playinq matron; Directory of Robotics Education and Training Institutions; Multilegged Robot Control
Arm. (photocopy) A Table of Contemporary Manipulator Devices: Patent Probe. A
New Robot Patent Category; Operator Roles in RobotiCS, The DECEMBER 1984: Motion Control for Automation and Robotics;
WINTER 1979: Advances in Switched·Mode Power Conversion, Scorpion: Sonware Overview A Lisp-Based Robot Control System, Part II; Robotix, Part I; ln-
Part 1; Prospects for Robots in Space; Robotics Research In troduction to Prolog, Part II, A Thud- Generation Stepper Motor
Japan, Report from IJCA16. FEBRUARY 1984: GRASP: From Computer Aided Robol Controller, Part 1.
Design to Off· Line Programming; Design and Construction of a
SPRING 1980: Microcomputer Based Path Control; Robotics Five-Finqered Robotic Hand; Patent Probe Omnidirectional Veh" JANUARY 1985: The Walking Gyro; Nomad MK III The Flight
Research In France; Multiple Sensors for a Low-Cost Robot; the cle; Using Microprocessors with Radio-Control Servos; Oesiqn- of Fancy; Robotix, Part II: External Control; A LispBased Robot
Robots of Autofact II; lns.de Big Trak. ing a Reliable voice-Input Robot Control Language; Part II, The Control System, Part III An Example Environment; Rethinking
Scorpion: Motor Control Instructions. Robot Mobility; A Pneumatic Walking Robot
SUMMER 1980: Industrial Robots; Today and Tomorrow; ln-
troducing the Minimover 5; Advances in Switched Mode Power, FEBRUARY 1985: The Sandi Project; Photo Essay A First
MARCH 1984: Part I, Armega 33 Mechanical Desiqn: Patent
Part II Probe: Robot Computer Chess; Part III, The Scorpion: Commands Glimpse at Gemini; Robetics Research: The Next Five Years and
With Responses; A Simple Computer Interface. Beyond; Report from the Unmanned Vehicles Conference; A
FALL 1980: Using Optical Shah Encoders; Interview with vctor Modular Remote Data Acquisition System Design; Keeping the
Scheinrnan: Robot vision for Industry; The Autovision System;
APRIL 1984: Closing the Sensor-Computer-Control Loop, HERO I's Steering Wheel Straight; A Third·Generation Stepper
Industrial Robotics '80; Robots on Your Own Time; Superkim
Bipedal Balance; Patent Probe Robot Warehouse; Part II. Armega Motor Controlier Part II.
M~~ts ET-2. 33: The Electrical Components.
MARCH 1985: Miniature CCD Cameras: A New Technology
MAR/APR 1981: Video Signal Input; Chain-Code: Camera MAY 1984: Backyard Foundry for Sand Casting; Androtext, A for Machine Vision; Vision and the Computer: An Overview; PC·
Geometry for Robot Vision; TIG Welding With Robots; Robot High·Level Language for Personal Robots; Part III; Armega 33 Based Image Processing; Polaroid Ultrasonic Ranging Sensors
Digestive Track-Robots on Your Own Time. Computer Control; Computers in Ihe Real World. in Robotics Applications.
JULY/AUG 1981: Segmenting Binary Images; The Robot as JUNE 1984: Introduction to Numerical Control Programming; APRIL 1985: Speech Recognition: Machines that Listen; ln-
Transfer Device; Continuous Path Control of Stepper Motors; Glossary ofCNC and Machine Tool Technology; A Glance at Some terview with Joseph Engelberger; The Listeners: Intelligent
TIMEL A Homebuilt Robot Microprocessor·Controlied CNC Tools; Intel's Bitbus Microcon· Machines with VOice Technology; Fourth for Computer Vision
SEP/OCT 1981: Bullish Days in the Robet Business: Edge Detec- troller Interconnect in Industrial Applications; A Second-Generation Autonomous
tion In Man & Machine: Continuous Path Control with Stepping JULY 1984: Shape Memory Effect Alloys for Robotic Devices: Sentry Robot
Motors; Build a Low-Cost Image Digitizer, Report from JACC·81; Hitachi's Robet Hand; Partll, Backyard Foundry for Sand Casting
MAY 1985: The ABCs of X·Y Posuioninc; A Compliant
The Robot Builder's Bookshelf. Making the Molds; Fantasy Meets Reality at New York Robot Ex-
hibit; Meccano and the Horne-Built Robot; The Role of Robots Mechanical Gripper; Irurd-Generauon Robots: Their Definition,
NOVIDEC 1981: Teach Your Robot to Speak; Fast Trig Functions Characteristics, and Applications; A Critique of Three Gripper
In Flexible Manufacturing Systems; A ReView of the Colne Arm-
for Robot Control; An Interview with George Devol: The Great droid I. Designs; Tool·Changing Robot Hands.
Japanese Robot Show; TIMEL: A Homebuilt Robot, Part II.
AUGUST 1984: Animate vs. Inanimate; The Echo II Speech Syn- JUNE 1985: Justifying the Robotics Replacement Decision; A
JAN/FEB 1982: Avatar A Homebuilt Robot; A Look at SS·50 thesizer; Computer Vision and Ranging Systems for a Ping Pong New Computerized Tomographic·Aided Robotic Stereotaxis
Computer Boards; Working Within Limits; Ambulatron: Another Playing Robot; Robots and Employment; Angles and Brads; System; A Z80·Based, Multitasking Control System; Rscoqniz-
Contest Winner; Quester Robots 8 Exposmon and Conference; Part of the Beginning. ing Parts That Touch.
MAR/APR 1982: The Rhino XR·l A Hands-On Introduction to SEPTEMBER 1984: Tabletop Technology; Robots in the JULY 1985: A New Super Camera for Vision Systems; Force
Robotics; Power for Robots; A Computer Controlled Sentry Robel: Classroom; Robots in Elementary Education: Moravec's Mobile Sensors for Robotic Assembly Systems; A Mutielement
A Homebuilt Project Report; Natural Language Understanding Robots, Robotics' Role in HlghTech Education; USing the PolarOid Ultrasonic Ranging Array; GoalSeekinq Sensor: Robots and
A First Look; R1'13 Video/Sound Recognition System; An Inex· Ultrasonic Ranging System Safety: An Industry Overview.
pensive Hand; Type 'N Talk.
OCTOBER 1984: Introduction to Data AcquiSition; A Simple Ther· AUGUST 1985: The Exact Inverse Kinematics Solutions for the
MAY/JUNE 1982: Part Sources for Robots; An Inexpensive Arm- mal Touch Sensor; Experimenting Made Easy: The ADC·l Data Rhino XR·2 Robot Manipulator; Previewing Robonc Motion With
Hand System; The Polaroid PlOD Polapulse Battery: Solution Acquisition System; Of Mice and Machines Computer Graphics; Inverse Robot Kinematics Derived from
Waiting for a Problem; New Robot Books for the Bookcase Ap· Planes of Movement; Graplucs Simulation and Programming
NOVEMBER 1984: Part I, A Lisp-Based Robot Control System; for Robotic Workcell Design.
plying Robot Vision to the Real World; Robots VI; A Landmark
in an Exciting Era; Photo Essay and Notes from Robot VI
JULY/AUG 1982: The Microbot Jeacb-mover: Some Notes On
......................................................................................
Part I, Introduction to Prolog; EARL: An Easy Robot Language;

__ Copies Summer 79 VoL1 No.1 $15/ea


the Rhino XR·l and M,n,mover 5; Patent Probe; Use Your Apple (photocopy) 9185 RA
As a Robotics Development System; IBM Robots; Adapting a __ Copies W,nler 79 VoU No.2 $3/ea
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Send to:
Part I __ Copies Summer '80 VoL2 No.2 $3/ea ROBOTICS AGE
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SEPT/OCT 1982: ROVing Robots; Report on SIGGRAPH '82; __ Copies Mar/Apr '81 VoL3 No.2 $3/ea.
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D SPECIAL OFFER:
JAN/FEB 1983: The Move-Master RM·l0t; Mailmoblles In the
Office; Teaching the Rhino XR·1 to Wnte; The Philosophy and Birth
__ Copies Nov/Dee '82 VolA No.6 $3/ea. With my order of 10 or more back
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and Boolean. These types are available as tion with the robot axes. Jogging the aux- Process Control 110. The basic process
both constant and variable data. Integer iliary axes and teaching auxiliary axis posi- control support is via digital and analog
data includes whole numbers in the range tion are supported by the teach pendant. 110. Karel systems in a normal hard-
± 2,147,483,647. Real data is supported ware/software configuration support up to
Expressions. Mathematical and relational
as 32-bit floating point data. String data 128 separate digital I/O points. Optional
is strings of any printable characters. operators are defined for all data types. configurations support additional I/O.
Boolean data has two possible values, The basic arithmetic operators are addi- Digital I/O can be referenced as individual
TRUE (ON) or FALSE (OFF). One- tion (+), subtraction (-), multiplication (*), lines or as a group and treated as binary
dimensional arrays of scalar data types are real division (f), and integer division (DIV). values. Individual lines can be turned ON,
supported in Karel. Arrays must be Trigonometric functions are also sup- OFF, or PULSED. Analog I/O is also pro-
declared explicitly with a length (number ported. The relational operators include vided for welding controllers, sensory in-
of elements). equal (=), not equal «»,
greater than puts, and general process control. The
(», less than (<), greater than or equal program constructs for performing this I/O
Structured Data. In addition to scalar data
to (>=), and less than or equal to «=). use reserved symbols to represent each
types and arrays of scalar data, Karel sup-
The logical operators are OR, AND, and type of I/O. Assignment statements are
ports structured data. Structured data is
NOT. A full set of mathematical operators used to set the values of individual I/O
distinguished from scalar data in that it
and built-in routines is provided to support points:
consists of a set of values that have a more structured data types. This set consists of
complex form than a simple array of vector addition (+) scaling (*) dot pro- DOUT[3] - ON turns on digital output 3
, , AOUT[2] - 346 sets second analog output to 346
scalars. Examples are position data, vec- duct (@), cross product (#), and coor- IF DIN[5] ... tests input 5 to be ON
tors, auxpos (auxiliary axis position data), dinate transformations (:). GPOUT[3] - 10 sets value 10 on digital output lines defined
for group 3
and paths.
Positional data is used to define loca- Motion Statements. Motion statements Logic Control. Karel provides all the con-
tion and orientation. It might refer, for ex- can specify motion of the robot TCP as structs of a high-level programming lan-
ample, to variable information such as the well as that of auxiliary axes. Karel pro- guage. The FOR, REPEAT, and WHILE
location and orientation of an object or in- vides a broad selection of basic motion statements provide the basic looping con-
formation such as the Tool Center Point statements (MOVEs). They include: structs. The IF-THEN-ELSE, and
MOVETO movesto a specified location SELECT (case) provide the standard alter-
(TCP). In Karel, positional data is
MOVENEAR moves near a position along TOOLZ axis
represented as a location (X,Y,Z) and an MOVEAWAY moves away from the current position along native selection statements. The GOTO
TOOLZ axis statement is provided to handle the excep-
orientation (W,P,R) in a Cartesian space.
110VEAXIS moves an individual axis
Paths are arrays of positions with each MOVERELATIVE moves the robot relative to its current tional situations when the five basic con-
position structs are not adequate.
path node being one position. A feature MOVEABOUT rotates around a specified vector
of paths is that, in addition to position MOVEALONG moves along a path
data, other data such as process data may Monitors and Interrupts. Karel provides
A number of special motion control and
be associated with a node of a path. Nodes two types of user monitors and interrupts.
monitoring clauses can be added to in-
can be arbitrarily added to or deleted from Local interrupt handlers are provided that
dividual motion statements to temporari-
a path during teaching. Paths provide a are enabled for only a single robot state-
ly change the type of a motion or to specify
means of easily specifying a sequence of ment such as:
conditions that should be monitored
positions through which the robot is to throughout the motion. A NOWAIT clause MOVETO pickup UNTIL DIN[l] - ON
move, and to specify the motion with a on a MOVE statement tells the program This statement moves the robot TCP to
single statement. Paths are convenient for interpreter that as soon as the specified the position defined by "pickup." Normal-
continuous path applications such as motion is initiated, the interpreter can pro- ly, the motion would terminate when the
painting, sealing, and arc welding, and for ceed with executing subsequent state- robot TCP reached pickup. The UNTIL
specifying motions around obstacles where
ments. clause specifies that the motion is ter-
the number of required taught points is
minated when either the robot reaches
not known. Textual I/O. User-programmed textual
pickup or when digital input 1 comes on.
Vectors are composed of three elements. (character, string) I/O is provided to the
Program execution then continues at the
The numeric values of these elements are computer terminal, the teach pendant, and
next statement.
similar to the 3-component vectors of to bubble memory files. The Karel
Global monitors specify a condition to
mathematics. They are typically used to statements READ and WRITE provide
be monitored globally during program ex-
construct position values from within a both formatted and unformatted I/O
ecution. The action to be taken when the
Karel program, or for other vector func- operations. This feature permits applica-
condition is satisfied is specified by a
tions and quantities. tion programs to be designed and im-
WHEN statement. Global monitors can be
Karel supports auxiliary axes for such plemented with a high degree of opera-
enabled and disabled as needed by the ap-
functions as positioner control for arc tional information flow. Meaningful opera-
plication program.
welding. AUXPOS is the data type used tional, error, prompting, and status
WHEN[1] DIN [Safety_gate] DO SHUTDOWN
to record the positional values for these messages can be provided during daily
additional axes. Special motion statements operation to inform the operator of the This example establishes a monitor for
are provided for specifying the motion of operational status and to specify required a digital input, asking for an interrupt ser-
these axes and for coordinating their mo- actions. vice routine (SHUTDOWN) to be executed
ROBOTICS AGE September 1985 11
when the gate is opened. The difference The Karel Command Language. While teaching phase by the same logic the pro-
between a service routine and all other the Karel language is the means by which gram executes.
routines is that parameters cannot be applications are described, the Karel Com-
enabled and disabled as needed by the ap- mand Language, or KCL, is the opera- MOTION CONTROL
plication program. tional language of a Karel controller. It is As previously noted, Karel provides a
WHEN clause, They apply only to a single used for operation of the controller as well number of MOVE statements for specify-
statement. In the following example, when as for on-line program development. ing motion. The type of motion interpola-
the robot is 15 ms from POSITION [1], Though KCL is an explicit text language, tion, speed, and termination conditions
the digital output is turned on. most of the commands can be entered with can also be controlled. Three basic inter-
MOVE ALONG PATH 1, softkeys so typing is rarely, if ever, neces- polation methods are supported in Karel.
WHEN THIE 15 BEFORE POSITION [1] sary. The complete set of KCL commands JOINT interpolation coordinates the mo-
DO DOUT[GRIPPER] ~ ON
includes the following categories: tion of each robot axis to begin and end
Routines. Karel supports both subroutines • Program Development. This includes .at the same time. The overall time of the
and functions that return values, including commands to operate the on-line motion is dictated by the axis that requires
parameters, local data, and nesting to an editor and translator and to load pro- the longest time to complete its move.
arbitrary depth. Routines are invoked grams from secondary storage (in- LINEAR interpolation moves the robot
simply by using the name of the routine. cluding off-line or host storage) to TCP in a straight line from its current posi-
RAM memory. tion to the destination position. The orien-
Importing Data and Routines. The shar- • Program Control. A host of com- tation of the tool is smoothly changed to
ing of data between application programs mands permits the operator to run, the orientation of the destination position.
is an important feature for creating special abort, pause, and resume programs. CIRCULAR interpolation results in the
application packages and for setting up System parameters can be used along TCP's moving along a circle from initial
data to be shared among programs either with these commands to permit position to a final position through a via
on the same robot or across all the robots single-stepping and breakpointing.
position.
in a given application area. In Karel, pro- • Data Manipulation. Data can be
In addition to the interpolation algo-
gram data created for or by one program declared, assigned initial values,
rithm used to move from position to posi-
can be accessed by another program. Key saved to secondary storage (including
tion, the user can specify the termination
reference positions for a particular applica- off-linestorage), listed, and moved or conditions for a motion. The four types of
tion can be taught once and shared by renamed while in RAM. termination are NODECEL, NOSETTLE,
several programs without maintaining • File Manipulation. The customary file COARSE, and FINE. Motion termination
multiple copies. One example is an manipulation commands are avail- determines when one motion is completed
operator setup procedure for vision able, including copying, renaming,
and the next can begin.
calibration. Using shared data, a program listing, and directory listing. Com-
can be written that leads the operator mands are also available for device
APPLICATION DEVELOPMENT
through the calibration and creates the mounting and dismounting (including
positional data required for daily opera- network devices). Karel does not include the large built-
tion. This data can be loaded later and • Miscellaneous. Miscellaneous com- in set of special robot options found in
used with the actual operational program. mands include those needed for many systems, such as palletizing func-
diagnostics, utilities, help, status tions, special arc weld functions, and spot
PROGRAM DEVELOPMENT display, and robot calibration. weld functions. While these options are
Karel, as implemented at GMF, is part KCL commands can also be executed sometimes useful, they frequently do not
of a full set of software development tools from command files, allowing the operator adequately meet the customers' real re-
specialized for robotic, vision, and cell to define an application-dependant power- quirements, with the result that customers
controller projects. This environment also up sequence and Karel program loading either have to alter their applications to
allows off-line program development on and execution sequences. fit a special option or they simply do not
computers separate from the actual robot use it. The Karel language allows easy
systems. Position Teaching. Position data is tailoring of such options by either GMF or
generally created using the teach pendant. the user to suit specific needs, an approach
Program Creation. Karel programs are It can also be entered directly via KCL that requires fewer changes to the basic
created using a sophisticated line-oriented commands at the keyboard. A newly system software and renders it more
editor that knows the Karel language syn- created program is executed by a special reliable.
tax. This essential tool provides commands RUN-TEACH function. Whenever the new
for program entry and insertion, deletion, program attempts to execute a MOVE COMMUNICATIONS AND SENSORS
and replacement of text. During text en- statement to an uninitialized position, ex- Karel provides an extensive set of com-
try the editor can optionally check for syn- ecution is suspended and the operator is munication and sensor functions, in-
tax errors within a program. This check- prompted to teach the position. After the cluding communications based on RS-232
ing can be performed as text is entered position has been taught, the program ex- that use protocols such as DDCMP and
and can also be invoked by the user at any ecution can be resumed. The programmer the General Motors MAP specification.
time during the edit session. is thus automatically led through the Several options are offered that depend on
12 ROBOTICS AGE September 1985
the speed of communications, number of GMF vice president of research and develop- 4. Paul, R. "Wave: A Model-Based Language
communication links needed, and so forth. ment, deserves credit for providing the initial for Manipulator Control." The Industrial Robot,
Basic communication functions include impetus to develop Karel. Dr. Berthold Horn, March 1977.
of the Massachusetts Institute of Technology, 5. Mujtaba, S. and R. Goldman. "AL User's
program and data upload and download,
was a major contributor during the early stages Manual." Stanford Artificial Intelligence
data modification, status, and most oper-
of specification and development. Finally, the Laboratory Memo AIM-323, 1979.
ator functions supplied by KCL. In addi- entire Karel team deserves credit for the system 6. "User's Guide to VAL-I!." Danbury:
tion, the functions necessary for syn- described here. Unimation Incorporated, April 1983.
chronization and control between sensor 7. Ward, M.R., K.A. Stoddard, and T.
systems and the robot system are provided. REFERENCES Mizuno. "A Robot Programming and Control
A real-time sensor option provides the l. Shimano, B. "VAL: A Versatile Robot Pro- System which Facilitates Application Develop-
means to interface sensor data into the gramming and Control System." Proceedings ment by the Use of High-Level Language." Pro-
path planning portion of the Karel system of COMPSAC 79, November 1979, 878-883. ceedings of the 15th International Symposium
and to perform real-time tracking for arc 2. Franklin, J.W., and GJ. Vanderburg. "Pro- On Industrial Robots, September 1985.
welding, sealing, and other applications. gramming Vision and Robotics Systems with
RAIL." Proceedings of Robots VI, 1982,
392-406.
Reader Feedback
To rate this article, circle the appropriate number
3. Taylor, R.H., P.O. Summers, and 1.M.
on the Reader Service card.
ACKNOWLEDGEMENTS Meyer. "AML: A Manufacturing Language."
The Karel system is the result of the contribu- The International Journal of Robotics 71 81 91
Excellent Good Fair
tions of many individuals. Lothar Rossol, the Research, 1, no. 3, 1982, 19-41.

A SAMPLE KAREL PROGRAM


PROGRAM Sealing2
This a simple sealing program. T~e program waits for a part
ready signal (cycle), moves to a starting position, turns on
the sealant dispenser, and seals along the path. At the
comp letion of the path, the sealant is turned off, the robot
moves to a clear position, and the conveyer is cycled.

I"IAR part_count, count, timer 1 INTEGER


start_seam, purge, ready, clear_part: POSITION
path_l : PATH
CONST
Digital Output Signals
Sealer_on = 1
Solvent_on = 2
Air _on = 3
Cycle_conveyor = 4
Digital Input Signais
Part_ready = 1
Sealant = 2

ROUTINE timeout(signalno: INTEGER):BOOLEAN


timerl == -5000 set timeout to 5 see
REPEAT
IF DIN[signalno] THEN RETURN(FALSEi return FALSE if no timeout
UNTIL timer = 0
RETURN(TRUEi return TRUE if timeout
END timeout
Continued on p. 14

ROBOTICS AGE September 1985 13


Continued from p. 13

---------------Beginning of Main Program Body--------------------------


BEGIN
part_count = 0 clear part counter
$speed = 1000 set default speed
$motype = Joint set default motion type
CONNECT TIMER TO timerl set up a timer
WHILE TRUE DO set up continuous loop
FOR count = 1 to 100 DO set up loop for 100 parts
t"lOVETO ready ready position
Wai t_part routine call to for part
WITH $SPEED = 200 MOVE TO start_seam approach start of seam
Start_Sealer routine call to start sealant
WITH $termtype=NODECEL $motype=LINEAR $speed=600 MOVE ALONG path_l
DOUT[sealer_on] FALSE = -- turn off sealant
WITH $termtype=NODECEL $speed = 200 MOVE AWAY 20.0
t10VE TO clear_part clear part
part_count =
part_count + 1 maintain part counter
PULSE DOUT[Cycle_conveyor] FOR 200 cycle conveyer
ENDFOR end of 100 part loop
purge_gun routine to purge gun
ENDWHILE end of infinite loop
END sealing2 End of Main Program

ROUTINE Wait_part
BEGIN
IF timeout(part_readyi THEN
MOVE TO purge
purge-9un
WRITE (' Timed Out Waiting for a Part ')-- write error message
PAUSE pause program
ENDIF
END Wa it_part

ROUTINE Start_Sealer
BEGIN
DOUT[sealer on] = TRUE signal the sealant gun
IF timeout(;ealant) THEN wait to see if success
t10VE AWAY 100.0 if not, move away from seam
MOVE TO PURGE move to purge position
purge_gun
WRITE ('Timed Out Waiting for Sealant') display operator message
PAUSE stop the program
ENDIF
END start_sealer

ROUTINE Purge_Gun
BEGIN
MOVE TO purge move to purge position
DOUT[solvent_on] = TRUE tlJrn on so Ivent
Delay 50 wait 50 msecs
DOUT[solvent_on] = FALSE turn off solvent
DOUT[air_on] = TRUE turn on air
DELAY 100 wait 100 msecs
DOUT[air_on] = FALSE turn off air
END purge_gun

14 ROBOTICS AGE September 1985


ROBOTALK: A NEW
LA GUAGE TO CONTROL
THE RHI 0 ROBOT H.S. Sandhu
Rhino Robots, Inc.
3402 N. Mattis Ave.
Champaign, IL 61821
and
Herbert Schildt
Universal Computing Laboratories, Inc.
PO Box 618
Mahomet, IL 61853

The word "robot" commonly evokes a making it useful both for teaching the of several of the more common industrial
mental image of the mechanical and elec- robot and for instructing the operator in robot control languages, including Unima-
tronic components that make up the tangi- the principles of programming. tion's VAL, Cincinnati Milacron's control
ble, visible robotic device. However, it is All robotic control languages have cer- language, and Automatix's RAIL.
the invisible component, the software, that tain features in common, such as com-
defines a robot and distinguishes it from mands for motion, grip, synchronization, VAL. VAL uses a BASIC-likesyntax with
simple hard automation. The first 25 years and relative and absolute coordinate ad- the COTO being the only form of loop
of industrial robotics were characterized justments, as well as the control structures control and the COSUB used to call
by evolutions in hardware, but since the common to all standard programming subroutines. All VAL's variables are global;
beginning of this decade the primary focus languages. The language must also allow truly stand-alone subroutines cannot be
of robotics research and development has interaction with the teach pendant and its created. The teach pendant is integrated
been on software. Sophisticated program- controls. The reason a specific robotic into VAL through the editor. As locations
ming languages for robot teaching and control language is preferable to simply are taught, lines of text are added to the
control have been created both as support adding robotic control subroutines to a program. (This is the method we adopted
systems and as substitutes for the tradi- more general purpose language is that for RoboTalk.) Once they are taught, the
tional teach pendant as a way to train and there are a number of data structures MOVE command can be used to reference
control a robot. While the pendant is an peculiar to this application area. These in- these points directly in the program. All
excellent method of teaching fairly simple clude motor position for points in space, spatial locations are either absolute or
tasks such as welding and palletizing, when the current absolute and relative position relative.
the job is more complex and external event of the robot, and the home position used One of VAL's best qualities is the ease
synchronization must be considered, or to reference all relative motion. A control with which it can be learned by those with
when the robot needs to recognize and language specific to robotics often provides programming experience, and even peo-
respond differently to a large number of a more natural means of expression than ple new to programming can create short,
occurrences, the teach pendant system does a more general-purpose computer useful programs in a few hours. VAL's ma-
becomes overburdened. language. jor limitation is that it is an old language
The solution is a robotic control lan- that lacks modern control structures and
guage for writing programs specifically TRADITIONAL INDUSTRIAL does not support stand-alone subroutines.
designed to control a robot. We created ROBOTIC CONTROL LANGUAGES
RoboTaik especially for the Rhino XR- Our development of RoboTalk was Cincinnati Milacron's Language. The
Series robots. The language is interactive, based on an examination and assessment Cincinnati Milacron language is unique in
ROBOTICS AGE September 1985 15
that it is essentially based on a directed • act and feel like an industrial lan- Command Function
graph, similar to a road map that has a trip guage, with fast response time, Append begin inserting text onto the end
of the program
planned on it with arrows indicating direc- smooth execution, and immediate
Delete deletes a line of text
tion and circles around points of interest. abort capabilities.
For a robotic control language, the points Because so many XRs are used in educa- Edit allows modifications to a program
line
of interest are specific operations like close tion, we felt this application should be
Insert puts editor into insert mode from
grip or move to a location, and the arrows given first priority. We decided to keep the which text can be entered
direct the program flow. language simple, without sacrificing com-
List list the program
The Cincinnati Milacron language's ma- pleteness; to add a trace and debugging
New begins a new program
jor advantage is the high level of teach pen- facility to help beginning programmers
Print prints the program on the printer
dant integration that allows the operator understand the operation of both their
to both create a program and guide the program and the robot; and to add a direct Quit exits the editor

robot. Its major limitation is that large pro- execution mode that allows easy ex- Skip go to the specified line

grams tend to be hard to comprehend perimentation with RoboTalk commands.


because the program is not in a "normal" We decided to write RoboTalk in C for
computer language format. both portability and efficiency. Compiled In teach mode, you use a teach pendant
C code runs nearly as fast as assembly to guide the robot through a series of
RAIL. Autornatix's RAIL is the most code and is easier to maintain. We also moves that automatically create portions
modern control language since it has wanted to produce versions for both the of your program.
Pascal-like control structures. In fact, Apple lIe and the IBM PC. The Aztec C
RAIL looks like UCSD Pascal with robotic compiler was chosen because there are The Interpreter. RoboTalk is an inter-
control procedures and functions added. versions for both of these computers. preted language; the instructions in your
RAIL's main asset is that stand-alone Since RoboTalk was to be hosted by a program are executed as they are en-
subroutines can be created that use local microcomputer, which, in its default mode countered. The part of RoboTalk that ac-
variables. This means, for example, that of operation is not multitasking and, in the tually runs your program is called the in-
various programs can share the same weld case of the Apple II, had only limited in- terpreter.
routine. A minor limitation is the difficul- terrupt support, we chose to use polling
ty RAIL presents to someone who has techniques to control the motors, teach Direct Execution Mode. In direct execu-
never programmed before. Pascal, and pendant, console, and external devices. tion mode you can give RoboTalk any
languages like it, are the preferred Considerable emphasis was therefore command it recognizes and it will be ex-
languages for large, complex programming placed on the main loop of RoboTalk and ecuted directly. You do not need to write
projects, but are not the easiest languages the key support routines that drive it. Ap- a program. This mode is excellent for both
to learn without adequate software tool proximately 70 percent of the development experimentation and illustration. Com-
environments. time was spent on the support routines and mands can be entered sequentially, allow-
the main loop. The effort was worthwhile, ing a complex series of operations to be
because RoboTalk acts on a microcom- explored. To exit this mode, a "Q" is typed
ROBOTALK'S BEGINNINGS puter the way industrial computers act on and control reverts to the main menu.
The Rhino XR-Series robots are aimed their interrupt-driven controllers.
at three markets: educational, experimen- The Filer. The filer is used to save and
tal, and hobby. We felt the new control load RoboTalk programs, and to list the
language we were trying to create should HOW ROBOTALK IS ORGANIZED diskette's file.
address and satisfy all three. Moreover, RoboTalk is organized into five sections:
RoboTalk was to provide more advanced • the editor The Teach Pendant Routines. RoboTalk,
features than the existing languages of- • the interpreter like VAL, integrates its teach pendant sup-
fered. The following design criteria were • the direct execution mode port into the editor. In this way, moves
agreed upon in October of 1984. • the filer taught with the pendant can be entered in-
RoboTalk would: • the teach pendant support routines to programs. There are three commands
• be a general introduction to all in- that control the teach pendant:
dustrial robotic control languages; The Editor. The RoboTalk editor, used
• be easy to learn and use, even for the to create RoboTalk programs, is a cross
novice; between the Microsoft BASIC editor found Command Function
• support an educational environment; on the IBM PC and the VAL editor. It has Examine displays and positions the robot at
• use all features of both the XR-Series three modes of operation: text insertion, the specified point and allows
changes to the coordinates of that
robots, as well as the Mark III con- command, and teach. In text insertion point.
troller and the work cell; mode, you enter lines of text that become Remove removes the specified point from
• be completely integrated with the your program. In command mode you give the program
teach pendant; it editor commands. The editor is line Teach allows point locations to be taught
• allow external devices and multiple oriented and supports the following text using the teach pendant.
robots to be synchronized; editing commands:
16 ROBOTICS AGE September 1985
the robot to the hardhome position. Each
time the STORE key is hit, the current
location is remembered and a line of text
is generated in the program. For example,
if you issued the teach command followed
by the point name "BLOCK," and stored
this point, you would have the first line of
Motor C this program text:
1 MOVEP BLOCK
2 MOVEP BLOCK1
3 MOVEP BLOCK2
Motor E
Pressing the STORE key two more
times creates the second two lines of the
program. As a convenience, RoboTalk
automatically appends numbers to the end
of the point name so that a series of re-
lated points can be easily taught and their
Figure 1. Left and right side views of the Rhino robot indicate the positions of its six motors.
linkage through a common name
remembered.
The Rhino's teach pendant allows con- Of the teach pendant keys available, only
trol of all six of the robot's motors and the the motor arrow keys and the STORE,
two auxiliary motors that run the work cell. END, and HOME keys are used. The A SAMPLE ROBOT ALK PROGRAM
The robot's grip acts like a pneumatic others are not needed because RoboTalk Let us examine a short RoboTalk pro-
hand; it will close on any size object automatically supplies these support func- gram. The diagram in Figure 1 shows the
without having to be retaught. The user tions. The arrow keys move each motor location of each motor on the robot. The
can, however, instruct the grip to close a forward or backward. END returns con- simple controller program is listed as
specified amount. trol to the host computer. HOME moves follows:

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CONTROLLED
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Circle 1 ROBOTICS ACE September 1985 17


REM A SAMPLE ROBOTALK PROGRAM
2 CLS
3 TYPE "A PROGRAM TO PICK UP A BLOCK"
4 SETI A=1
5 10 MOVEP BLOCK
6 MOVEP BLOCK1
7 CLOSE -1
8 GOSUB 100
9 MOVEP BLOCK2
10 OPEN -1
11 SETI A=A+ 1
12 IF A<11 THEN GOTO 10
13 END
14 100 REM WAIT FOR CONVEYOR
15 WAIT 4
16 MOVEGH 100,0
17 RETURN

All commands and statements in


RoboTalk can be in either upper or lower
case. To avoid confusion, we have used up-
per case.
This program instructs the robot to pick
up blocks and place them onto a conveyor
belt. It assumes that input signal 4 being
Photo 1. RoboTalk runs on the IBM PC to give the user real-time control over this workcel\. The robot
set ON signifies that the conveyor is ready
can be ordered to put various combinations of balls onto a pallet, and to place the pallet onto a conveyor.
and that the next block will wait for the
robot to pick it up.
similar to both VAL and BASIC. In • current output
Line 1 is a remark. Remark lines begin There are two ways to control the trace
essence, it is used here to construct a loop.
with the keyword REM, as is the case with function. The first is by using the TRON
As long as A is less than 11, the program
the BASIC command. Everything follow-
willloop back to line 5. Line 13 is the END and TROFF commands. These can be
ing the REM to the end of the line is
command that signifies the end of the pro- placed directly into a program and used
treated as a comment and skipped. Line
gram. It is there to keep the program from to trace specific lines of code. For
2 uses the command CLS to clear the host
falling into subroutines. If there are no example:
computer's screen. Line 3 uses the TYPE
subroutines, the command is not
command to display a message on the host 1 MOVE 10,10,200,198,300
necessary. Lines 14 through 17 contain a 2 TRON
computer's screen. TYPE can also be used
subroutine that begins with the label 100 3 MOVEP POINT12
to output numeric values. The SETI com- 4 WAIT -4
and ends with a RETURN, which tells
mand in ·line 4 causes the value 1 to be 5 TROFF
RoboTalk to resume execution at the line
placed into A, one of RoboTalk's 26 built-
after the GOSUB. Line 15 uses the WAIT
in variables. The label "10" begins line 5. willcause RoboTalk to first move the robot
command to suspend program execution
All labels must be numbers between 1 and to the position specified in line 1, activate
until input signal 4 is set ONE (or TRUE).
32,767. Following the label is the MOVEP the trace screen, execute the next two lines
The MOVEGH command in line 16 ad-
command. The MOVEP tells RoboTalk to while tracing, and finally turn the trace
vances the G motor by 100 encoder steps.
move the robot to the point specified, in screen off.
This is an example of direct program con-
this case the point called BLOCK. The The screen can also be activated
trol of a motor. All motors on the robot
MOVEP command is used with points dynamically any time a program is running
and the work cell can be controlled by
taught using the teach pendant. Line 6 by striking a "T" on the keyboard. It can
either the teach pendant or by explicit pro-
contains another MOVEP instruction. be turned off by striking the "T" a second
gram commands such as MOVEGH.
Line 7 is a command to close the robot time. This allows the user to trace a por-
grip. The argument -1 means to close all tion of the program on demand while it
the way on any size object. If a positive THE TRACE AND DEBUG FACILITIES is executing.
argument had been given, such as 20, the Because RoboTalk was intended for use To aid in program writing, RoboTalk
grip motor would have advanced 20 en- in education, we felt it should have a com- has long error messages and markup,
coder steps. Line 8 uses the GOSUB com- plete trace facility. When the trace is which means syntax and runtime errors
mand to call a subroutine. Line 9 is turned on, the following information is can be easily fixed because the line in
another MOVEP command. The OPEN displayed and updated as the program which the error occurs is displayed on the
command in line 10 opens the robot grip runs: screen. For example, if the MOVEP in-
all the way. The -1 argument is used to • position of all motors struction were misspelled in line 12, you
completely open the grip, while a positive • status of input and output ports would see:
argument opens the grip a specified • status of the two auxiliary ports Syntax error in line 12
number of encoder steps. Line 11 uses • value of all variables NOVEP BLOCK32
SETI to increment the value of variable A. • currently executing line of source Rob~Talk treats a stall condition as a
Line 12 shows the IF/THEN statement, code runtime error, just as industrial control
18 ROBOTICS AGE September 1985
languages do. A stall occurs when the order various combinations of balls to be REM A SIMPLE SYNCHRONIZATION EXAMPLE
REM FIRST WAIT FOR A CAR
robot strikes an object or tries to lift too placed on a pallet. The WAIT and IF- 10 WAIT 7
heavy a weight. The program willstop and SIC/THEN commands the pallet to be REM ONCE 7 IS SET, THEN WELD
the operator can reset the robot using the placed onto the conveyor. These com- GOSUB 100
REM SET OUTPUT SIGNAL 3
HOME command, correct the problem, mands allow RoboTalk to interact and syn-
OUTSIG 3
and continue. RoboTalk always knows chronize the robot with external events. REM SEE IF DONE FOR DAY
where the robot is relative to its hardhome The WAIT command suspends program IFSIG 5 THEN END
GOTO 10
position. Even when a stall occurs, all in- execution until the specified signal is
100 REM WELD
ternal motor registers are updated to turned on and the IFSIC/THEN command
reflect the actual position of the robot and operates like the IF/THEN except that it One major problem with synchroniza-
the program will adjust automatically. uses the status of the input lines as the tion is the possibility of deadlock, a situa-
condition. The OUTSIC command is used tion similar to the old comedy routine in
to set output signals. which two men at a door each insist that
SYNCHRONIZATION WITH For example, the following program will the other go first, with the result that
EXTERNAL DEVICES wait until a car comes down the assembly neither gets through. The programmer
Photo 1 shows a complete workcell line by waiting for signal 7, then weld it, must use WAIT and IFSIC carefully to
under the real-time control of RoboTalk. and finally set port 3 to signal the com- avoid this predicament.
The operator can use the control box to pletion of the weld:
Harprit Singh Sandhu is the president of Rhino
Robots, Inc. Herbert Schildt is the president
of Universal Computing Laboratories, Inc.

THE LANGUAGE Reader Feedback


To rate this article, circle the appropriate number
on the Reader Service card.

The RoboTalk programming language has ed by quotation marks. Valid strings include 72 82 92
28 commands, divided into two groups: pro- "this is a test" and "this is 100." Excellent Good Fair
gram control commands and robot control • Variables. A variable is a storage loca-
commands. Program control statements con- tion in the computer that can hold a numeric
trol program flow, while robot control com- value. Unlike a constant, a variable's value
mands run the robot and its controller. The can be changed. The command SETI is used
commands are: to assign values. SETI G=123 gives variable
G a value of 123. Each new assignment over-
INTEL'S BASIC 52 =
Program Control Robot Control writes the previous value. ONE HOT CONTROLLER
CLS AUX • Operators. RoboTalk has two types of
END CLOSE operators, arithmetic and relational. The
GOSUB HARDHOME arithmetic operators are standard algebraic
GOTO HOME
operations: + (plus), - (minus), * (multiply),
IF MOVE
IFSIG MOVE TO and / (divide).···These operators areiJ.sed to.
PAUSE MOVEGH form numeric expressions. The relational
REM MOVEGH TO operators are used in the IF/THEN statement
RETURN MOVEP to return a TRUE or FALSE value based on
SETI OFFLINE
TROFF OFFSET
the outcome of the operation. They are: <
TRON ONLINE (less than), > (greater than), and = (equal to).
TYPE OPEN For example, 10<11 is TRUE, whereas 3 X 4" Programmable fJ-C with
WAITFOR OUTSIG 10<9 is FALSE. 8k x 8 CMOS RAM for $289
This latest self-contained microcontroller from
A numeric expression is one or more BASICON offers remarkable capability for such

RoboTalk has 26 built-in variables-the let- variable, constant, and operator that follow low cost and space. It's designed around Intel's
BASIC 52 chip, allowing you to program
ters A through z. It has room for 100 user- the standard niles of algebra. For example: directly in BASIC from any terminal with an
RS-232 connection.
taught location points. The IBM PC version 10 • 36 I/O ports.
can accommodate programs up to 10,000 A+12/5 • 8kx8 CMOS RAM.
characters, about 500 lines. The Apple ver- • Real time clock.
(B-G) *2 • 316-bit timer/counters.
sion can handle 2000 characters. ((10- F) + 100)-(10- E) • Autobaud - wide range.
As do all computer languages, RoboTalk • 9 interrupts.
combines constants, variables, and operators EPROM programmer and many peripherals
Within expressions, all parenthesized available.
to form expressions. groups are evaluated first, then multiplica- Volume discounts. Delivery 2 weeks.
• Constants. RoboTalk has both string tion and division, and finally addition and
and numeric constants. A numeric constant subtraction. Operators on the same level are BAS/COH, /HC.
is any integer between - 32,768 and 32, 767 evaluated left to right. Parentheses can be 11895 NW Cornell Road
Portland, Oregon 97229
and a strinq is a list of characters surround- used to alter the order of evaluation. TEL: 503-626-1012

ROBOTICS ACE September 1985 19


Barbara K. Lindauer, Ph.D.
Robot Defense Systems, Inc.
471 E. 124th Ave.
Thornton, CO 80241

There are at least three reasons the where 25 percent of the robots in the U.S. current advances in computer-based, in-
technologies associated with automation, are in service [1]. Unions, through dividualized training.
including robots, will have an impact on collective-bargaining agreements, have
the fields of training and instructional received extensive company-paid training THE NEED FOR SKILLED TECHNICIANS
technology within this decade: programs in consideration of economic The original supposition in this discus-
concessions granted by auto workers. sion was that the increased demand for
• a need for skilled technicians
Other industrial unions have echoed the automation would lead to the creation of
• the development of retraining pro-
concern that robots are capable of ac- jobs for skilled robotics technicians. A re-
grams for displaced workers
celerating the displacement of skilled, cent forecast, based on a survey of
• training for end users in specialized
semiskilled, and craft workers and have in- management currently involved in the
robotics applications
cluded in their. labor agreements clauses automation field, predicted that 400,000
Robotics is an emerging technology pertaining to retraining benefits [6,7]. With technicians would be needed to service
whose effects are only beginning to be felt increasing concern over the potential automated factories by the end of this cen-
in the workplace. By next year an negative effects of worker displacement tury [4]. Most of the 10,000 trained techni-
estimated 50,000 industrial robots will due to technological innovation, the AFL- cian positions that will become available
have been installed [1] with projections of CIO is calling for the creation of a national within this decade will be filled by
100,000 to 150,000 by 1990 [2]. Estimates industrial policy that would include the employees coming from company training
of an annual growth rate for the automa- development of effective employment and programs [5]. However, over 400 high
tion industry are as high as 30 to 49 per- training programs [8]. schools, community and technical col-
cent. This rapid expansion has been at- Additional types of automation, long leges, and universities are now offering
tributed to the perception that robots, considered the poor relations of industrial courses in automated systems. How can
coupled with related types of factory robots, will also influence the need for trainers and educators resolve the need for
automation, are the means to restore a future training endeavors. These special- future technician training without flooding
favorable trade balance and to enhance in- ized robotic applications include such in- the job market?
dustrial productivity in traditional novative examples as adaptations of arms, Traditionally: technician training in
manufacturing industries [3]. As with any grippers, and voice control for the hand- terms of maintenance and installation has
new technology, there will be a demand icapped and elderly; Department of been provided by robot vendor companies
for trained professionals, such as those in Defense funding for robotics, including the to clients who have purchased their pro-
the engineering and computer science development of autonomous robotic ducts. In a recent Office of Technology
fields, as well as for skilled technicians to vehicles for defense and physical security; Assessment survey [9], 93 percent of those
install and maintain state-of-the-art equip- and the creation of affordable, easily pro- companies that produce programmable
ment. By the end of this decade, an grammed robots for educational and per- automation equipment offer instruction to
estimated 70,000 jobs will have been sonal use. purchasers. The extent of this instruction
created by the robot industry [4], and 5000 Technologies intimately related to is limited in scope, with 80 percent of the
to 10,000 skilled technicians will be automation, such as high-fidelity simula- vendors providing only a single course.
needed [5]. tion used in computer aided design/com- Only a third of these companies said they
Automation is being implemented at the puter aided manufacturing sensor systems, were prepared to provide all the training
fastest rate in the automobile industry, and artificial intelligence will support con- actually required to operate and maintain
20 ROBOTICS AGE September 1985
Circle 12

their equipment. Sufficient training was company-sponsored programs. In other


not provided because of cost factors and words, estimates of the numbers of trained
a diffusion of responsibility to the end technicians who will be needed, especial-
Free Catalog
users for providing employee education. ly for large consumers of automation
. The perceived lack of adequate techni- technology, may be realistic, but at least
cian training has not been lost on educa- a portion of these positions will be filled
tional institutions, but most of the existing by displaced employees. In-house training
programs offer only limited skills and to upgrade to necessary skill levels is often
techniques instruction, rather than train- mandated by union contracts stipulating
ing in fundamental disciplines such as that no new technicians are to be hired
mathematics, physical sciences, materials, from outside sources such as community
electronics, and mechanical, fluid, thermal, colleges. In fact, 50 percent of the dis-
and optical devices [5]. Piedmont placed workers are expected to receive
Technical College in Roxboro, North training for new positions within the same • Itard-to-Flnd Tools
Carolina, has developed an automated plant [14]. Another factor limiting the need • Test Equipment • Tool Kits
manufacturing technology program that for large numbers of technicians in the • Computer Accessories
• Telecommunication Tools
teaches operation, installation, mainte- future is expert systems applications in • Tool Cases and Chests
nance, and repair techniques [10]. The automatic test equipment. As robots • All this and more in full color
trend for such programs appears to have become more technologically advanced, Jensen's new catalog is your
accelerated nationwide, due in part to the they will be able to perform their own single source for all types of tools
increased attention the media have paid routine maintenance, diagnosis, and repair and equipment used by e1ectonic
and telecommunication techni-
to sophisticated automation technology functions [14]. cians, engineers, sophisticated
[11]. For example, in Michigan alone between hobbyists, schools, laboratories
To avoid a proliferation of specialists 13,500 and 24,000 jobs are expected to and government agencies. Send
for your free copy today.
with only currently employable skills, a be lost to robots during the next fiveyears.
more broad-based approach with guide- At the same time, the robot industry is ex- JENSEN Tools INC.
lines for a variety of employment situations pected to generate 5000 to 18,000 new 7815 S. 46th St., Phoenix, AZ 85040
has been suggested. Scheduled for com- jobs [1]. The key issue is that we do not (602) 968·6241 TWX910·950·0115

pletion this year is a model curriculum for know how many workers in these new jobs
robotics/automated systems technicians will come from the pool of displaced
developed by the Center for Occupational workers or will be graduates of technical
Research and Development and the U.S. training programs. Of the factories using
Department of Education. This new ap- programmable automation, only 22 per-
proach to curriculum design includes cent polled in a recent survey sponsored LABORATORY
seven quarters consisting of 80 percent or conducted new technology-related train-
common core subjects (basic and technical ing. Of those that did not offer skill up- ROBOT
skills) and 20 percent specialty core sub- dating, only 18 percent indicated future
jects (robotics and sensors). This cur- plans for implementing such programs [9].
riculum was designed to produce
OPPORTUNITY
In light of this limited data, it appears
graduates with an extensive technical that a need does exist for vocation- Strategic Directions International, Inc., a
leading high-tech strategy consulting firm,
background that will allow them to find al/technical/continuing education pro- has issued its latest Market Analyses and
jobs in a variety of areas, as well as to pro- grams that will provide the automation in- Perspectives (MAP) report, Laboratory
vide a foundation for the subsequent dustry with skilled technicians capable of Automation. This first comprehensive look
at the dynamic and financially rewarding
retraining necessary to keep up with keeping abreast of advancing technologies area of lab robotics includes detailed infor-
technological changes [5]. The success of [15,9]. Until definite industry trends are mation on markets (sizes, segmentation,
such training endeavors is as now undeter- discernible, trainers and curriculum devel- shares, and products), competition, and
end-user preferences. Technical trends
mined. One community college-based pro- opers would be well advised to incorporate and strategic implications are also featured.
gram reported successful placement of 18 robotics courses into general skills In addition, this report covers the related
out of 23 of its graduates [12], while categories. This will give graduates a flex- field of sample handlers and liquid pipet-
ting, diluting, and dispensing equipment;
another was able to find jobs for only a ible background and allow them to pur- increasingly evolving into robotic systems.
few of its students [13]. sue a number of career alternatives. The combined report is available for
Part of the confusion in assessing in- $1,795 plus shipping, handling and sales
tax (if applicable). To order, call or write:
dustrial needs for technician training lies The Retraining Dilemma. Robots are ex-
in separating those trainees who are be- pected not only to increase productivity Philip Dean, MAP Program Director
ing hired into the workplace for the first and improve product quality, but also to Strategic Directions International
9841 Airport Blvd., Suite 806
time and who have received formal educa- reduce labor costs. Using an example from Los Angeles, CA 90045
tion in automation disciplines from those the auto industry, employee costs in- Ph: (213) 641-4982 Telex 664611
workers who have been displaced and who cluding benefits range from $23 to $24 per
are receiving new skill training in hour, whereas the cost, including acquisi- o

ROBOTICS AGE September 1985 21


Circle 24

tion and maintenance, for an industrial the Center began a National Vocational
robot doing the same job averages approx- Retraining Assistance plan that provides
imately $6 per hour [16]. According to a financial aid (up to $lOOO yearly) to laid-
recent documentary, the most completely off workers who wish to enroll in formal
automated factory in the world has re- education or retraining programs. The
duced an estimated labor force of 2500 to Targeted Vocational Retraining Projects
215 [17]. Estimates vary, but each robot were initiated concurrently to support
installed in the U.S. is projected as replac- retraining in specialized skills for occupa-
ing between 1.7 and 6 jobs. By 1990, tions where worker shortages existed in
robots could displace 1.2 million workers specific locations [9]. The "nickel an hour"
[2]. Workers who have lost their jobs fund that finances these retraining pro-
because of technological change are ex- grams has produced approximately $10
Digital outputs in Binary, BCD or Gray pected to reenter the work force through million to support the Ford Center and
Code (directly computer compatable) re-
industry- and government-sponsored $40 million for retraining at GM. Job
quires no signal conditioning or buffering
amplifiers. Available stroke lengths 1, 2, retraining programs [18]. security was also an issue for the most re-
4, 8, 12, 24, 36 and 48 inches. In terms of designing retraining pro- cent collective bargaining agreements. The
grams, the critical issue becomes one of total value for 1984 contracts is estimated
The VERNITECH Linear Encoder is pre-
aligned and extremely rugged, suitable calculating the number and types of at $1 billion. This amount does not seem
for industrial environments. Accuracies workers needing to be trained. While some excessive since it gives the major auto
to .003 inches can be acheived. economists and social demographers are manufacturers license to employ automa-
Prices start at $400.00 and delivery is 10 predicting higher than normal attrition tion technologies to the greatest possible
weeks. rates due to automation [19,20], others extent as long as retraining is provided.
suggest a minimal effect on the work force Similar agreements have been reached by
between now and the end of the decade unions in the aerospace, electrical, com-
Call or write [21,22]. What is known, however, is that munications, and steel industries [6,7].
different geographic locations, especially Whereas most of the public's attention
a division of Vernitron Corporation those in the Great Lakes "rust bowl" has been focused on collective bargaining
300 Marcus Boulevard, Deer Park,N.Y.11729 region, are being hardest hit in terms of resolutions to the displaced worker prob-
(516) 586-5100 / TWX 510-227-6079
plant closings, worker displacement, and lem, the federal government has in the
transfer of labor-intensive jobs to third past funded, under the Comprehensive
world nations [17,2,24]. What educational Employment and Training Act and the
THE fifth generation language planners should expect is that somewhere Trade Readjustment Assistance Act, pro-
PRO LOG in the neighborhood of 2 to 4 percent of grams for retraining workers. Under the
the manufacturing industry labor force will newer Job Training Partnership Act, which
Implementing the full Edinburgh Synt311
as described by Clockson and Mellish need some form of retraining by the end encourages partnerships for training by
of this decade [21]. public/private sources, approximately $2.8
Recognized by Japan as providing unparalleled
opportunity lor artificial tnteu.qence. Labor unions have been the main im- billion was made available in 1983 to train
petus behind retraining program develop- and employ displaced workers [9]. The ef-
Applications:
ment. The UAW predicts that by 1990, ficacy of federal involvement has been
• The highest level of a hierarchial
200,000 of its members, approximately 20 questioned, however, since such interven-
robotic control system. percent of its total membership, will lose tion could be interpreted as a denial of in-
• Machine recognition of
natural language. their jobs to industrial automation [2].This dustrial capabilities for sponsoring retrain-
• Expert systems and time frame coincides with GM's reported ing and, too, the national government
knowledge engineering.
Optional:
plan to install 20,000 new robots [17]. This might be too far removed from local situa-
• Virtual memory
displacement of workers is expected to oc- tions to adequately address training issues
• Special libraries cur despite a 15 percent projected growth [24].
educational package

$29.95
• Language extensions rate for the American automobile industry. Even without having precise data on the
• Large model
In their 1982 Ford and GM agreements, rates of technological change and diffu-
•other versions $100- $500 the UAW obtained provisions for sion,:or on the actual numbers of workers
Requires 192K memory and runs under MSDOS establishing training and retraining pro- being displaced by automation, it is clear
and peDOS versions 2.0 and later.
grams for current employees, as well as that retraining has become big business.

~:~ automata design assoc.


1570 Arran Way Dreshe( PA 19025
Technical: (215) 646·4894
workers who have been laid off as a result
of new technologies and new production
techniques. As a result of that contract,
Ford established the National Develop-
ment and Training Center to "promote
training, retraining, and other skills
With most large-scale retraining effortsjust
getting underway, we must speculate on
the successfulness of retraining endeavors
in returning displaced workers to new and
productive jobs. In the Office of Tech-
nology Assessment's report on automation
Orders: (215) 355·5400
Visa, Mastercard. Am Ex
development opportunities for current and in the workplace [9], a comprehensive
displaced workers" [9]. In August of 1982, review suggested that retraining programs
22 ROBOTICS AGE September 1985
Circle 10

benefit most those displaced workers who TRAINING FOR SPECIALIZED ROBOTIC
APPLICATIONS MICROCOMPUTER
are young, have more formal education, PROJECT
and have some financial security. Of such Training needs will not be limited to DESIGN TOOLS
individuals, however, only 15 percent par- large-scale retraining efforts or technician
ticipated in retraining programs, ostensibly training. Small groups of end users will re-
because of the lack of financial support. quire specialized training as robots are
In addition, the types of jobs available for used in a wide variety of nonindustrial
displaced workers must be determined. categories. The following examples are by
Will all jobs now available or in the future no means an exhaustive list of robotic
require new, higher-level skills? Or will at capabilities expected to be developed
PROJECT BOARDS
least a portion of those displaced find within this decade, but they can serve as
• 6502 or 6803 Processor
themselves in lower-level jobs and be illustrations of new uses of automation • Up to 48K Memo~
classified as unskilled? technology that require some degree of • Monitor I Debug PROM
• Serial and Parrallel 110
Reports from two retraining programs instruction. • Counter - Timers
in Allegheny County, Pennsylvania, fund- In a joint research project of the • Plated-Through Breadboard
area for your project.
ed by federal, state, and local community Veterans Administration and the Stanford
Assembled & Tested $200.00
colleges indicated that the number of Research Institute, robots with specialized
displaced workers dwarfed available arms and grippers are being programmed CROSS ASSEMBLERS
6502,6800/6801,6805,8048,8051
resources for retraining. Further,· the to execute simple domestic tasks for peo- S080/8085, 8086/s088, 9900/9995 Assemble
courses devised were only marginally suc- ple severely disabled by spinal cord injury. machine language programs on your MS-DOS
system, burn PROM's andlor down-load and
cessful in placing trainees full-time in the Since the project's implementation, end run on your Project Board or other system.
areas of their academic specializations. Of users have been involved in the design, Disk & Manual ..........•...•• $100.00
23 students enrolled in a robotics pro- development, and implementation of the
gram, 5 dropped out of the course, and project [29]. Not only were they instrumen- Write or call for information on these and
other products.
five months after the course was finished, tal in the research and development pro-
12 were counted as working full- or part- cess, but they also provided the necessary HAWTHORNE TECHNOLOGY
time in course-related fields. In a com- material for the creation of training man- 8836 S.E. Stark
Portland, OR 97216
parable program aimed at retraining 30 uals for new end users. As these ex- (503) 254-2005
millwrights to become stationary engi- perimental concepts are expanded to in-
neers, only 15 had positions 17 months clude homebound, physically disabled
after graduation. The robotics program is adults, including the elderly [30], training
being offered again, but the other program
has been dropped [25].
concepts from the laboratory will be ex-
trapolated to larger, less sophisticated
STEPPER
If trainers are to be successful in return- audiences. MOTOR
ing displaced workers to full-time occupa-
tions, they must develop curricula ap-
The Department of Defense and private
industry have recently joined forces to
CONTROL
plicable to a wide range of ages, educa- sponsor robotics research and develop-
tional backgrounds, and skill levels. These ment in the areas of physical security,
curricula should include planning for the automatic ammunition loaders, and in-
changes new technologies willmake in the telligent maintenance, diagnosis, and re-
work environment. This factor may prove pair systems [14]. Autonomous vehicles are
more significant than job requirements for viewed as capable of tirelessly patrolling
determining worker flexibility[26,27f Pro- perimeters of secured areas such as
gram evaluations must be included as an nuclear facilities or prisons; the result will
integral component of whatever nation- be a reduction of personnel needs [31].
wide industrial policy is formulated. Ex- Such robots have potential use also in
isting evaluation data must be viewed as medical evacuation, fighting fires, enter-
inconclusive because of program dif- ing hazardous areas, and defusing ex-
ferences, environmental differences, prob- plosive materials. These robots willrequire
INTERFACES IBM-PC
lems associated with small samples, and trained technicians for their maintenance OR APPLE
selection bias difficulties [28]. Without the and repair. At issue for trainers are the HS-2 BASIC Controller, HS-3
long-range strategic planning implications human factors involved in person-machine Dual Driver, 2 SM-101
of such a policy it willbe difficult to predict interfacing. Training willhave to focus not 90 oz. motors ..... $416.00
in exactly what skills workers will need only on technical issues but also on public
retraining or how many jobs will become response to the potential danger of such
Cybe.·Pak
company
available. Nor will it be possible to gauge vehicles and the coordination of person- P.O. Box 38
the successes and failures of combined machine capabilities. Brookfield, IL 60513 <D
government and privately funded retrain- Another area of robotics with potential (312) 387-0802 Q)

MCIVISA ~
ing programs. training impact is the personal robot en- u

ROBOTICS AGE September 1985 23


Circle 19

HERO SOFTWARE01 A CHIP thusiasts. Personal robots offer relatively REFERENCES


Demorobo-4K ROM that demonstrates HERO's abilities unexplored potential for providing 1. Hunt, A., and T. Hunt. Human Resource Im-
as well as explain how they work. $49.95
AbuseramuserAK ROM that will shock your friends. Gives domestic help, intrusion detection, and plications of Robotics. Kalamazoo: W.E. Upjohn In-
HERO a 'nasty' personality. $49.95
home learning opportunities [32,33,34]. stitute for Employment Research, 1983.
Henny HERO-4K ROM that transfers your HERO into
2. Joint Economic Committee. Hearing on the im-
the king of computer based humor $49.95 User-friendly training may take on many
Socket Extender=Relocates any ROM socket for easy pact of robotics on employment. March 18, 1983.
ROM changes. Cable and zif socket included. $59.95 new meanings within this context. If the 3. Hetzner, W.A., L.G. Tornatzky, and KJ. Klein.
2K-4K EPROM burn service available for user designed pro- personal robot market parallels that of "Manufacturing Technology in the 1980's: A Survey
grams. Custom 2K-4K programs written on request.
Send check or money order to home computers, a whole industry could of Federal Programs and Practices." Management
Silicon Technologies Science, 29, 1983, 951-961.
6 Deacon Court develop dedicated to instruct relatively un-
Melville, NY 11747 4. Society of Manufacturing Engineers. Industrial
Technical support: 516-643-2069 eves sophisticated end users. Rather than focus-
Robots: A Delphi Forecast of Markets and
Add $1 for S&H. NY state residents please add sales tax. ing on technical skills, such training would Technology. Dearborn, MI: Society of Manufactur-
HERO is a registered trademark of Heath Compo Software
guaranteed defect-free for a period of one year from emphasize the interface between human ing Engineers, 1982.
purchase.
and robot. 5. "The Course of Robotics Education." Robotics
Today, August 1984, 40-44.
CONCLUSION 6. Hanauer, G. "Bargaining for Jobs in the
Automated Factory." California Lawyer, January,
Whether the issue is new technician
1984, 29-31.
training, displaced worker retraining, 7. Roberts, M. "A Labor Perspective on
specialized training for end users, or the Technological Change." Article prepared for the Of-
translation of automation technology to fice of Technology Assessment to be published by
educational and domestic applications, the University of Pennsylvania Press.
8. Wachter, M.L., and S.M. Wachter. Toward a
training will playa key role in this phase
New u.s. Industrial Policy? Philadelphia: Universi-
of the industrial revolution. Even without ty of Pennsylvania Press, 1981.
definitive strategic planning data, there are 9. Office of Technology Assessment. "Automation
already training needs that are not being and the Work Place: Selected Labor, Education, and
addressed. The Office of Technology Training Issues." Washington, DC: Congress of the
United States, Office of Technology Assessment,
Assessment [9] has recognized four:
March 1983.
• to learn how and by whom tech- 10. "Programming Robotics." Open Entries.
nological literacy should be addressed December 3, 1983.
• to define both long- and short-term in- 11. Asfahl, C.R "Curriculum Dilemmas for
structional systems Robotics Educators." Technological Horizons in
Education Journal. August 1984, 98-103.
• to initiate innovative curriculum design
12. Schreiber, RR "Meeting the Demand for
processes Robotics Technicians." Robotics Today: '82 Annual

~OO[]T -[]-I3AAmS" • to identify funding sources for cur-


riculum design and implementation
Edition. Dearborn, MI: Robotics International, Soci-
ety of Manufacturing Engineers, 1982. (Article
AN AFFORDABLE ROBOT THAT'S YOURS FOREVERI originally published in Robotics Today, Summer
To these trainer and instructional
Surprise someone with this amazing gift. Our 1981.)
remote-control, inflatable robot stands near- designer roles the following should be add-
13. Lee, C. and R Zemke. "Retraining America:
ly 4' tall. Choose from a Butler, Master Chef ed. First, those involved in training and Solutions or Sugar Pills?" Training. May 1983, 22-29.
or French Maid to serve cocktails and hors
human factors issues should promote the 14. National Research Council. Applications of
d'oeuvres or deliver the morning paper. Each
robot will be delivered complete with uniform, need for strong industrial planning and Robotics and Artificial Intelligence to Reduce Risk
hat, serving tray and Champagne glasses and program evaluation efforts. It will be dif- and Improve Effectiveness: A Study for the U.S. Ar-
will operate on both carpeted and hard floor my. Washington, DC: National Academy Press, 1983.
ficult to train or retrain employees without
surfaces at distances over 75 feet. You may 15. Kimbler, D.L. "Engineering Robot Applications
also customize your robot to fit a specific oc- a good understanding of the job oppor- and Education." The Higher Education Journal, May
casion (additional charge). tunities of the future. Second, information 1984, 122-126.
FANTASIES FULFILLED! on the successes and failures of existing 16. Foulkes, F.K., and J.L. Hirsch. "People Make
Balloons fizzle and flowers wilt, but our robots
come with their own guarantee. large-scale training efforts are essential to Robots Work." Harvard Business Review, January-
"Show someone you give-a-damn, February 1984 (1), 94-101.
the improvement and upgrading of the
Send a ROBOT-O-GRAM!" 17. Cronkite, W. (Narrator). "High Tech: Dream
programs currently being offered. Third, or Nightmare?" (CBS Reports). New York: Colum-
ROBOT-O-GRAMS, INC. it is imperative to adapt new technologies bia Broadcasting Station, 1984.
105 Belcher Avenue, Brockton, MA 02401
MCIVISA $150 Call (617)580-0131
developed by automation and to apply 18. Hollenbeck, K., F.C. Pratzner, and H. Rosen
them to improving instructional media and (Eds.). Displaced Workers: Implications for Educa-
tional and Training Institutions. Columbus, OH: The
software design. Finally, -as new end-user
National Center for Research in Vocational Educa-
robotics applications emerge, the training tion, 1984.
opportunities they represent must not be 19. Bluestone, B. "Industrial Dislocation and Its
ignored. An emerging partnership between Implications for Public Policy." In Displaced Workers:
those interested in human factors within Implications for Educational and Training Institu-
the automation process and those respon- tions. K. Hollenbeck, F.C. Pratzner, and H. Rosen
co (Eds.), Columbus, OH: The National Center for
sible for technological innovation will be
Research in Vocational Education, 1984.
established and should experience signifi- 20. Bluestone, 8., and 8. Harrison. The Dein-
cant growth through 1990 and beyond. dustrialization of America: Plant Closings, Communi-

24 ROBOTICS AGE September 1985


Circle 14

ty Abandonment, and the Dismantling of Basic In-


dustry." New York: Basic Books, 1982. AUTOMATE AFFORDABL Y
21. Miller, S. The Impact of Robotics 'on the Work
Force and Work Place. Pittsburgh, PA: Department
WITH spectraLIGHT™
of Engineering and Public Policy, Carnegie-Mellon
University, 1981. FEATURES:
22. Parsons, H.M., and G.O. Kearsley. Human Fac- • Integrates with a personal computer (Apple lie,
tors and Robotics: Current Status and Future Pros- 11+)'
pects. Alexandria, VA: Human Resources Research • Disk based menu driven software provides:
Organization, 1981. • Quick development of NC programs
23. Smith, D.A., J. Kulik, and E.w. Stromsdorfer. • Graphic part verification
"The Economic Impact of the Downriver Community • Manual and automatic lathe
Conference Economic Readjustment Activity Pro- operation
gram: Choosing between Retraining and Job Search • Turns steel, aluminum, brass
Placement Strategies." In Displaced Workers: Im- and plastiC
plications for Educational and Training Institutions. .-Improves productivity for
K. Hollenbeck, F.C. Pratzner, and H. Rosen (Eds.), small production runs
Columbus, OH: The National Center for Research • Conventional CNC
in Vocational Education, 1984. G and M codes
24. McKenzie, R.B. "Displaced Workers: A Role • Cost-effective for train-
for the Federal Government." In Displaced workers: ing new CNC operators
Implications for Educational and Training Institu-
'Apple is a trademark of Apple Computer Inc.
tions. K. Hollenbeck, F.C. Pratzner, and H. R. Rosen
(Eds.), Columbus, OH: The National Center for
Research in Vocational Education, 1984.
INDUSTRIAL GRADE LATHE SPECIFICATIONS:
25. Chute, E. "Job-hungry: Numbers of Dislocated
Workers Dwarf Resources for Retraining." Pittsburgh
AUTOMATION .3.5" swing over bed
Press, August 12, 1984.
26. Argote, L., P.S. Goodman, and D. Schkade. ONLY $2995. • 8" between centers
• ± .DDD5" positioning repeatability
The Human Side of Robotics: Results from a Pro- • 2DD to 2DDD RPM spindle speed
totype Study on How Workers React to a Robot.
LIGHT MACHINES CORPORATION • 115V power requirement
Pittsburgh: The Robotics Institute, Carnegie-Mellon
University, 1983. I ~~
'" ~.'"d"";.'
(603) 625-8600
'riw. ter, HH03103 ",,,h,,
• Ball bearing spindle
• Adjustable gib slides
27. Beaumont, R.A., and R.B. Helfgott. Manage-
Call Toll Free 1-800-221-2763
ment, Automation, and People. New York: Industrial
Relations Counselors, 1964.
28. Barnow, B. "The Economic Impact of the
Downriver Community Conference: Reactor Com-
ments." In Displaced Workers: Implications for
Educational and Training Institutions. K. Hollenbeck,
F.C. Pratzner, and H. Rosen (Eds.), Columbus, OH:
The National Center for Research in Vocational
Education, 1984.
29. Awad, R.E., K.G. Engelhardt, and LJ. Leifer.
"Development of Training Procedures for an Interac-
tive Voice-controlled Robotic Aid." Proceedings of
the 6th Annual Conference on Rehabilitation
Engineering, San Diego, CA, 1983, 276-278.
30. Engelhardt, K.G., and LJ. Leifer. "The VA
RR&D Center." Generations, Summer 1984, 38-39.
31. "Birth of the Killer Robots." Newsweek, June
25, 1984.
32. Boyer, J. "Robots: The New Helpmates." Work-
ing Woman, April 1984, 135-136.
33. Watt, P. "Robots Ready." Infoworld, May 14,
1984, 12.
34. Watt, P. "Robots Roll onto the Scene." In-
foworld, June 11, 1984, 52-55.

Dr. Lindauer, who holds a doctorate in


psychology, is a research scientist with Robot
Defense Systems, Inc.

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Advertising __ Classified
R.S.
Advertising __
No. Company
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11 International Cybernetics Corp., Cov. IV ROBOTICS SUPPLIES: Stepping
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13 Lab Volt, p. 2 tools, ICs, transistors, diodes, capacitators,
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15 Rio Grande Robotics, p. 5 wire, etc. Competitively priced. Quantity
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resources with a friend and save. 20 page,
Robotics Age Back Issues, Insert
1985 catalog, $1.00. Digimation, P.O.
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Box 1479, Cullowhee, NC 28723.
18 Robot-O-Grams, Inc., p. 24
1985 Sensor & Transducer Directory, Cov. III
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20 Software Science, p. 30 cludes sonar, arm, voice/sound pack-
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- Correspond directly with company


Would like to purchase back issues of
Robotics Age magazine for personal col-
lection. Original issue of Summer 1979,
Winter 1980, Jan/Feb 1981-May/June
1981. Write to Joseph A. Nowakowski,
PO Box 29097, Chicago, Il, 60629,
U.S.A

Young Robotics Enthusiast would like


to correspond with other enthusiasts in-
volved in robotics, personal, industrial,
research & development or just plain col-
lectors of robotic materials. Also would like
any news or magazine articles,
photographs, posters, brochures, or books
concerning robots .. Write to Joseph A.
Nowakowski, P.O. Box 29097, Chicago, Il
60629, U.S.A

26 ROBOTICS AGE September 1985


USING LOGO FOR
ROBOT SIMULATION B.J. Gleason
71 Bennett Ave.
Kearny, NJ 07032

LOGO is a language that was first in- events, which can then help control robot changing position, the fire button on the
troduced by Seymour Papert as part of an behavior. joystick's being pressed, and an event
experiment in teaching children how to Table 1 lists the events LOGO demons timer that is activated once per second.
use computers. Turtle robots carrying pens will watch for. To instruct the demons to watch for
were programmed to move about in pat- In essence, there are three types of events, we first need to know the event
terns that produced drawings. This events. The first is a TURTLE-LINE col- number. These are in the first column of
background might not immediately suggest lision. We have four turtles and three pens Table 1. For example, when Turtle 0
the language's powerful LISP-based con- that leave lines on the screen. When a tur- passes over the line drawn by Pen 0, we
structs and its usefulness in graphics tle passes over a line, a demon can run see that it is event number O. Having ascer-
simulation, but the Atari LOGO cartridge a routine if we have told it to watch out tained the event number, we can use it in
for the Atari 1200XL home computer can for that event. Next is the TURTLE- either of two ways to test for that event.
be used to simulate a turtle, build it a TURTLE collision that occurs when one The first way is the COND statement. The
room, and allow it to wander around run- turtle runs into another. Again, if we have COND # statement returns TRUE or
ning into walls and other turtles. One par- told the demon to watch out for that event FALSE, depending on whether or not that
ticularly helpful feature of LOGO is the it will then execute a routine. Last comes event number has occurred. We can
"demon" that can be used to monitor SPECIALS. These include the joystick's therefore place it in an IF statement.
IF COND 0 [PRINT [TURTLE 0 PASSED OVER LINE OJ J
TABLE 1 In the above statement, when the turtle
Events and Demons
passes over the line the screen will display
EVENT TYPE OF EVENT DEMON
"TURTLE 0 PASSED OVER LINE 0."
NUMBER
The problem with the COND statement is
o TURTLE-LINE Turtle 0 crosses Pen 0
1 TURTLE-LINE Turtle 0 crosses Pen 1 that it only tests immediately. If we are do-
2 TURTLE-LINE Turtle 0 crosses Pen 2 ing other things as well, we might miss the
3 SPECIAL Joystick button pressed
turtle's passing over the line. Fortunate-
4 TURTLE-LINE Turtle 1 crosses Pen 0
5 TURTLE-LINE Turtle 1 crosses Pen 1 ly, demons can be used in another way,
6 TURTLE-LINE Turtle 1 crosses Pen 2 with a WHEN statement that acts as an
7 SPECIAL Once a second
8 TURTLE-LINE Turtle 2 crosses Pen 0
interrupt for the system.
9 TURTLE-LINE Turtle 2 crosses Pen 1
WHEN 0 [PRINT [TURTLE 0 PASSED OVER LINE OJ J
10 TURTLE-LINE Turtle 2 crosses Pen 2
11 NOT USED As soon as an event occurs, we process
12 TURTLE-LINE Turtle 3 crosses Pen 0
13 TURTLE-LINE Turtle 3 crosses Pen 1
the routine specified in the WHEN state-
14 TURTLE-LINE Turtle 3 crosses Pen 2 ment, regardless of what else we are do-
15 SPECIAL Joystick position changed ing. This statement is executed only once.
16 TURTLE-TURTLE Turtle 3 hits Turtle 0
17 TURTLE-TURTLE Turtle 3 hits Turtle 1
We can then go on and process other in-
18 TURTLE-TURTLE Turtle 3 hits Turtle 2 formation, knowing that as soon as that
19 TURTLE-TURTLE Turtle 0 hits Turtle 1 event happens again we will be told that
20 TURTLE-TURTLE Turtle 0 hits Turtle 2
21 TURTLE-TURTLE Turtle 1 hits Turtle 2
"TURTLE 0 PASSED OVER LINE 0."
This is the basis' for robot simulation.
ROBOTICS AGE September 1985 27
THE SIMULATION one in which we can do the most work.
,.,,-,-, » •• ,... The robot we are simulating is very sim- The way we recover from collisions and
select a new direction begins to enter the
I.3CIIIIIII
THE AUTONOMOUS ROBOT
ple. It has only one bumper and can detect
when it hits a wall but cannot tell the direc- realm of artificial intelligence.
ROUTINE SIM1. This is the main
tion of incidence. One of the first programs
someone writes for a robot is to have it routine, with which we tell the turtle to
IS NOW PRICED FOR run around on the floor, bumping into clear the screen (CS), use the full screen
EVERYONE! things. We can have our robot do the same (FS), and draw the room. SIM1 sets up the
by drawing a room on the screen, placing demons (WHEN 0 [ RECOVER D, tells the
our robot into the room, and letting it go. turtle to begin traveling, and sets its speed
When it bumps into a wall, we can back (SETSP 20).
it up and head it off in a new direction. As the simulation runs, we might see the
This is done in Listing 1. turtle bang its head several times before
choosing a direction that gets it away from
LISTING 1: LOGO LISTING OF SHIl the wall. This is a function of the
TO SQUARE : LEN
RECOVER routine and we can, if we wish,
REPEAT 4 [ FORWARD : LEN RIGHT 90 ] begin developing a more intelligent
END recovery routine for when the turtle hits
a wall.
TO DRAW.ROOf!
PENUP
SETPOS [-100 -100]
PENDOWN
THE SMARTER MACHINE
SQUARE 200 Perhaps the easiest recovery routine to
PENUP
SETPOS [ 0 0 ]
implement is the LAST-RIGHT method.
END This is accomplished as follows: When we
hit a wall we back up. We know the direc-
TO RECOVER
REPEAT 10 [ BACK 1 ]
tion we are traveling, so we look up in a
SETH ( 22.5 * RANDOI·j 16 ) list the *response we used last time to get
Buy each subassembly as a kit END away from the wall. If the number is less
or factory assembled and create
TO SIMl
than 0, we have never before encountered
your own GEMINI Robot.
CS a wall while traveling in this direction. So
FS we pick a random direction and travel un-
Or, for DRAW. ROOM
convenience, WHEN 0 [ RECOVER ] til we hit something. We then see how far
start with SETSP 20 we traveled. If we traveled more than, say,
END
GEMINEX, 20 units, then it is a valid direction and
our starter ROUTINE SQUARE. This simply draws we place that value in the list, so we can
kit, and a square with each side :LEN units long. "remember it" if we hit a wall while we are
expand to ROUTINE DRAW.ROOM. This sets up traveling in that direction again. In time,
GEMINI our room. We first tell the turtle to lift up the turtle will get a good response table
later with its pen so it does not make too many lines. built up so that when it hits something it
upgrade kits. We place it in a lower left corner of the can get away without running into many
screen (SETPOS [ -100 -100 J), put its walls.
pen down, and tell it to draw a square 200 I ran statistics on this method, compar-
units on each side. This is a rather simple ing it to that of random choice. With ran-
room, but we could draw a more com- dom choice, the turtle picked the proper
plicated one if we wished to. We raise the direction to get away from the walls about
pen again and place the turtle in the center 50 percent of the time. With the LAST-
Either way,
of the room. RIGHT method, accuracy increased to
Buy a piece of tomorrow
ROUTINE RECOVER. This routine is about 70 percent. With the LAST-RIGHT
TODAY!
called whenever the turtle hits a wall. We method, the turtle spends more time ex-
tell it first to back up ten steps, and then ploring and less time banging into walls.
CALL or WRITE For Our FREE to select a new direction. In this routine To implement the LAST-RIGHT meth-
Brochure. we use the RANDOM 16 instruction, od, we need to give the robot a way to
which will return a value between 0 and measure distance. On mobile robot plat-
arc:tec:Tsysterns 15. We take this number and multiply it forms this can be done by a number of
9104 Red Branch Road by 22.5 so the turtle will turn between 0 methods. With a LOGO simulation we can
Columbia, Maryland 21045
N (301 )730-1237 and 337.5 degrees. When the routine is find out the turtle's location by using the
ill
-g Telex 87-781 finished, the turtle heads off in a new direc- POS command, which returns a list con-
U tion. This is the most powerful routine, the taining the current position. We save this
28 ROBOTICS AGE September 1985
value, travel to a new position, and then TO DISTANCE : POS1 : POS2 MAKE "MR 0
MAKE' 'X ( FIRST :POS1 )-FIRST :POS2 MAKE' 'NM 0
identify the new location. Using the MAKE' 'MAX 16
MAKE "Y ( LAST : POS2 ) -LAST : POS2
DISTANCE command, we can find out OUTPUT SQRT :X * :X + :Y * :Y MAKE' 'MEM [16161616161616161616161616161616]
how far we have traveled. We then test to END MAKE' 'OLDPOS [00]
MAKE' 'DIR 0
see if this distance is greater than 20. If WHEN 0 [ RECOVER ]
TO SQUARE : LEN
it is, the direction we picked to get away REPEAT 4 [ FORWARD: LEN RIGHT 90 ] SETSP 20
from the wall was correct and we should END END

save it in the list. If the distance is less, ROUTINE FETCH gets the LAST-
TO RECOVER
the direction was not a good one and SETSP 0 RIGHT response for the current direction
another must be selected. REPEAT 10 [ BACK 1 ] from the list MEM.
MAKE' 'TRAVEL DISTANCE :OLDPOS POS
When I first wrote the routine, I noticed ROUTINE ITEM returns the Nth item
IF :TRAVEL > 20 [ GOOD.MOVE ] [ MAKE' 'STAT 0 ]
a slight problem. For example, the tur- MAKE "OLDPOS POS from a list.
tle is traveling at 90 degrees, hits a wall, NEW.MOVE ROUTINE NEW.MOVE tests to see if
and picks the direction 270 degrees as a SETH ( ( 360 / : MAX) * :NM )
SETSP 20
there is a response in memory. If there is
means of getting away. And let's say the END none, a random response is given by
best response from the 270 degrees is the GET.RAN. It there is a response in
TO DRAW. ROOf1
90 degrees. LOCKUP occurs. The turtle memory, the move is given by GET.MEM.
PENUP
willjust oscillate back and forth indefinite- SETPOS [-100 -100] Testing is then conducted for LOCKUP.
ly. We can prevent lockup by testing for PENDOWN A positive finding brings a new random
SQUARE 200
180 degree reversals. If a 180 degree response.
PENUP
reversal was chosen, we pick a different SETPOS [ 0 0] ROUTINE REPLACE inserts a new
direction, as in the above example. Listing END value in a list at position N.
2 is the program that gives this behavior. ROUTINE GOOD.MOVE updates mem-
TO SIM2

LISTING 2: LOGO LISTING OF SIM2


CS ory if the last direction of travel was good.
FS While this program is running, the tur-
DRAW. ROOM
TO Q tle's memory, contained in :MEM, is
FS
SETSP 20
END

TO S
SETSP 0
TS
END

TO ITEM : N : OBJECT
IF : N = 1 [OUTPUT FIRST : OBJECT]
OUTPUT ITEM : N-1 BUTFIRST : OBJECT
END

TO FETCH : INDEX
OUTPUT ITEM ( : INDEX + 1 ) : MEM
END

TO GET.RAN
MAKE' 'STAT 0
MAKE ' 'NM RANDOM : MAX
END

TO GET .MEM
MAKE ' 'MR FETCH : DIR
IF :MR = :MAX [GET.RAN] [MAKE' 'NM :MR]
END

TO REPLACE : POS : NEWRO', : SH


IF : POS = 1 [OUTPUT SE : NEWROW BUTFIRST : SH]
OUTPUT SE FIRST: SH REPLACE: POS-1 : NEWROWBUTFIRST : SH
END

TO NEW.MOVE
IF :STAT = 1 [GET.MEM] [GET.RAN]
IF : DIR = ( FETCH : NM ) [GET. RAN]
END

TO GOOD. MOVE
MAKE' 'STAT 1
MAKE "MEM REPLACE : DIR + 1 : NM : MEM
MAKE' 'DIR :NM
PRINT :MEM
END

Circle 5 ROBOTICS AGE September 1985 29


Circle 20

printed out every time it is updated in the horizontal walls from Pen 0. By using
THE SOFTWARE SCIENCE
GOOD.MOVE routine. This does not ap- another demon, (Demon 1) we could find
MICROTELEMETRY MODULE
pear on the screen unless we stop the out if we were hit on the side or the front.
uIEJl0j]fIE~1ITUJrnIE simulation by pressing S followed by a
< RETURN>. This clears the screen and
For example, if we were traveling 10
degrees and hit Pen 1, which runs
W@ILu&~IE displays the memory changes. The sim- north/south, we would know we were hit
IPrnIE§§aJJrnIE ulation is restarted
Q<RETURN>.
by pressing on the side.
3. Sonar simulation. Many robots today
LOGO can use a split screen to carry a Polaroid sonar range finder. We
simultaneously display both text and could simulate with another turtle the
graphics. If every FS in the program is round trip sound would take from the tur-
replaced with SS, the last three lines of text tle to the wall and back. To find this
will remain on the screen, and will scroll distance, we place another turtle where we
as commands are entered. This procedure, are and have it move forward until it hits
however, reduces the size of the room in a wall and returns to us. We could even
which the turtle is roaming about. Further, put it in a loop, so that it scans 360
the room must be fully displayed on the degrees and then gives us the direction of
graphics portion of the screen or the tur- the longest distance. Listing 4 is a sonar
Your sensors and the Software Science MicroleJemetry
tle will jump right over the walls. routine. With TEST.DIS, we move the
Module can put analog data and control at your com- Once in a while, a turtle may escape sonar turtle forward fivesteps at a time un-
puter or terminal's fingertips.
from the room. There are a number of til it hits a wall. It then outputs the distance
reasons that this happens, but mainly it from the robot turtle to the sonar turtle.
(513) 561-2060 happens because the system can handle
CALL OR WRITE LISTING 4: SONAR SIMULATION
only one demon at a time. The easiest way
FOR TECHNICAL FL YER TO SONAR
to get the turtle back into the room
SETSP 0

Dhl
P.O. Box44232,
without disturbing its memory is to type:
ASK # [ SETPOS [ 00 J J<RETURN>
TELL 2
PENUP
SETH ASK 0 [HEADINGJ
Cincinnati, Ohio 45244 where # is the number of the turtle that SETPOS ASK 0 [POSJ
ST
escaped. In the SETPOS command, it is MAKE' 'DIS 0
assumed that 0,0 is inside the room. If it TEST .DIS

COMPUTER RUNS is not, just change the values to a point HT


TELL 0
inside the room. When the command is
MOTORS executed, the turtle will be transported in-
SETSP 20
OUTPUT :DIS
to the room, still heading in the same END

direction and at the same speed. TO TEST .DIS


IF COND 8 [] [ FORWARD 5 MAKE "DIS : DIS + 5 J
END
• ROBOTS THE NEXT STEP
• PROCESS
CONTROL There are several steps we can do at this
• CONVEYORS
point: CONCLUSIONS
• FORWARD/REVERSE
• DUAL CONTROLLERS l. Obstacle introduction. We could in- By using LOGO, we can "build" and test
• ONE PORT CONTROLS
FOUR MOTORS
stall another turtle in the room to act as the performance of a sophisticated robot
a randomly moving obstacle for the first without using any hardware. This method
Use your computer with the CDFR controller to
command speed and direction of two independent
turtle. This is simple to do, using Listing allows us to work out the software before
3. We now have to watch for several types we begin robot construction. Even if the
motors from a single parallel output port. Ideal for
robot drive motors or any two functions requiring
proportional bipolar control with bridge output cir-
cuitry. Six versions cover an output range of 6-70
°
of collisions. Turtle can hit the wall, Tur-
tle 1 can hit the wall, and Turtle can hit ° robot is not programmed in LOGO, we can
use the algorithms we developed to guide
Vdc up to 40 amps. Typically the CDFR controller
installs between the computer, a 12 Vdc battery, and
Turtle 1. We set up the demons and let program development in other languages.
two DC PM motors mounted right and left on a the turtles roam.
robot. Simple software commands set speed and
B.J. Gleason holds a master's degree in com-
direction latches in the CDFR thus freeing your LISTING 3: OBSTACLE INTRODUCTION
computer for other tasks. Rugged relayless PWM puter science from the New Jersey Institute of
output circuitry is optically isolated from the CMOS TO OBSTACLE Technology.
control logic and your computer to eliminate ASK 1 [ PENUP SETPOS [0 OJ SETSP 15 J
ground loops and facilitate flexible output con- WHEN 4 [ASK 1 [ BACK 10 SETH RANDOM 360 J J
figurations. Serial interface optional. One year WHEN 19 [ ASK 0 [ RECOVER J J
limited warranty. Buy the CDFR-2 now with 15V
12A outputs for $225.00. Ask about our other
END Reader Feedback
robotics components. MC, VISA, MO, or' check 2. Addition of sensors. We could add To rate this article, circle the appropriate number
VANTEC more bumpers. Since the turtle knows in on the Reader Service card.
15445 Ventura Blvd.. Suite 10-281
Sherman Oaks. CA 91413
1 .... }I,.1S4.· .i which direction it is traveling, we could 74 84 94
(818) 993·1073
make the vertical wall from Pen 1 and the Excellent Good Fair

30 ROBOTICS AGE September 1985


In The Robotics Age
Edited by Stephanie vL Henkel

Public interest in robotic sub-


marines was recently.awakened ON THEIR OWN: have built EAVE (Experimen-
tal Autonomous Vehicle), a pro-
by a tethered, unmanned,
underwater vessel's search and
THE UNTETHERED, totype maintenance and ex-
ploration robot that will even-
retrieval mission. Bell Tele-
phone Laboratories at Holm-
UNMANNED, tually be able to clean up
underwater structures and
del, New Jersey developed the
Scarab (Submersible Craft for
UNDERWATER ROBOTS survey valleys37,000 feet below
the ocean surface. Among the
Assisting Repair and Burial) to project's sponsors are the
dig up, repair, and rebury university, the Minerals
undersea cables. The sub's nor- Management Service division of
mal diving range is 6000 feet, the U.S. Geological Survey, the
but when an Air India flight National Science Foundation,
went down off the coast of the Office of Naval Research,
Ireland this past June, the and various industrial grants.
Scarab descended some 6700 The prototype is a 4 by 4 foot
feet to find and raise the plane's cube of open spare frame
voice recorder. With its sonar- design. "It looks, if you stretch
sensitive "ear," the robot your imagination a bit, like the
tracked down the source of the Starship Enterprise," Blidberg
voice recorder's pings. A televi- said. It is at present "hydro-
sion "eye" sent information up dynamically inefficient," in
the tether cable to the crew on Blidberg's words, but the early
the host ship. An AT&T Com- EAVE, a prototype untethered, unmanned, submersible vehicle, was built at
stages of development are a
munications spokesman said the University of New Hampshire's Marine Systems Engineering Laboratory. time for free-wheeling ex-
the sub could probably reach perimentation and discovery.
9000 feet without mishap. water vehicles. The first con- systems are not necessary and "Once it works on paper,"
The Scarab is tethered to the ference attracted 20 par- you don't have to consider safe- Blidberg said, "we want to get
mother ship by a 10,000-foot ticipants; this year's June ty factors." Further, getting rid it into the water to see if it
cable that sends down electrical gathering drew 200 conferees of the tether eliminates prob- works there." (The university
power and commands and from Canada, France, Italy, lems caused by fouled cables maintains a lab on Diamond
returns television signals and Japan, and Sweden, as well as that can make it impossible to Island in New Hampshire's
data from the sub's on-board from the United States. recapture the vessel. On the Lake Winnepesaukee for actual
minicomputer. On the host underwater testing.)
vessel, one crew member con- With neither human crew nor
trols the Scarab's propulsion Your systems have to be a lot more tethering cable to give it orders,
system, another mans the how is the robot sub to find its
robot's television cameras and
reliable because there's no one there to way around, and collect and
manipulators, and a third take care of them. These are transmit data? The answer is
monitors the minicomputer. logical but not at all simple: by
Less in the public eye, but
hiqh-anxietu-leoel vehicles. means of a knowledge-based
very much of interest to the guidance and control system.
scientific community is a Dick Blidberg, an electrical other hand, new problems are Three acoustic transponders
robotics research program engineer and associate director raised by the absence of crew will be sunk in the area to be
being conducted at the Marine of the lab, described untethered and tether. "Your systems have surveyed, each tuned to a par-
Systems Engineering Labora- undersea robots as "a tech- to be a lot more reliable," ticular frequency. The robot,
tory of the University of New nology still in its infancy." Blidberg said, "because there's emitting acoustic pulses at 120
Hampshire in Durham. For the Robotic submarines, he said, no one there to take care of KHz, will listen with its sensors
past five years, an annual "offer a lot of flexibility in them. These are high-anxiety- to the echoed response from
workshop has been held on un- mechanical design since with level vehicles." the transponders and navigate
manned, untethered, under- no human crew, life support Blidberg and his colleagues by triangulation. For some ap-
ROBOTICS AGE September 1985 31
In The Robotics Age

plications, a single beacon will frame, Blidberg said, and first, with trade press, trade the VDC survey, micro-
suffice, Blidberg said. transmitting only pertinent shows, seminars, professional computer-based systems, in-
The prototype robot has an data, the information can be associations, trade associations, cluding personal computers, of-
on-board computer with 128 condensed into 2 or 3 frames independent consultants, com- fer the highest growth poten-
Kbytes of memory, but the final per second. puter manufacturers, and soft- tial, with an annual growth rate
version will have 4 or 5 Mbytes. In addition to exploratory ap- ware suppliers following in foreseen as 18.1 percent. Pro-
A UNOS operating system plications, the robot will be descending order. grammable controllers are in-
made by Charles' River Data used to clean underwater struc- A market survey conducted creasingly important to the pro-
Systems of Framingham, Mas- tures. Stashed in the vessel will by Venture Development cess industries, which will con-
sachusetts guides the craft be a load of lithium salts that Corporation (VDC) revealed tribute to an anticipated growth
around obstacles in its path. respond to being mixed with that integrated plant manage- rate of 16.6 percent in ship-
One problem, Blidberg said, is sea water by producing a high- ment and control is the most ments of the controllers.
running symbolic languages in pressure gas. The gas emerges important trend in process con- The second half of this
a real-time environment. For in the form of bubbles that trol since the 1970 introduction decade is expected to see an in-
instance, acoustic data from the scour away mineral deposits, a of distributed control. creasing percentage of total
robot's depth sounder deter- process akin to sandblasting. U.S. consumption of in- capital expenditures allocated
mines the slope of the ocean The robot will use a pair of tegrated plant management and to plant automation equipment
bed. If the floor is rising too arms, "buggers," to attach itself control systems is expected to and services. Plant communica-
fast, that information is to the object being cleaned so increase at an average annual tions networks and plant
transmitted as a symbol. The the force of the bubbles won't rate of l3.4 percent over the management software willshow
Prolog interpreter mounted on propel it violently backward. next five years. According to the largest increases.
the operating system translates In Blidberg's estimation,
symbols into commands to some of the most rewarding
carry out course corrections as results of his work have not
they become necessary.
The operating robotic sub-
come from creating a brand-
new widget: "We get very ex-
PEOPLE
marine will collect video data cited about finding new ways of ~ Michael N. Forino is the ~ Microbot, lnc." has ap-
during its runs and send it back tying the new technology to new president of United States pointed Dino Papoutsis pro-
streamlined. By removing all ocean science." • Robots. He was most recently duct manager for educational
redundant data from the video president and CEO of and developmental robots. He
Hubotics, and has also been in has previously worked for Lux-
upper management with Inter- tron Corp., Bio-Rad Labora-
MARKET RESEARCH national Robomation
General Automation.
and tories, American Cyanamid,
and Diagnostic Corp. of
Computer aided design and The impetus to automate America.
engineering, computer- or pro- comes from within the manu- ~ Imaging Technology Inc.
grammable controller-con- facturer's organization, the has announced three promo- ~ James N. Carro has joined
trolled equipment, and auto- report continues, with the tions: Clyde W. Sylvia as vice Ridge Computers as vice
mated parts tracking will show strongest advocates being president for finance and chief president of marketing and
large gains within the next five engineering, senior general financial officer; Patricia sales. He had been with
years, according to a survey management, and corporate Mostika as director of human General Electric Co. for the
recently published by the Na- management. resources; and Ronald A. past 20 years, most recently
tional Electrical Manufac- An earlier NEMA study iden- Massa as vice president for with that company's Calma
turers Association (NEMA). tified the lack of in-house ex- sales. All three have previously Division.
Both large and small firms pertise in software as a major worked for Imaging Tech-
share in the trend to automate, bottleneck in automation. The nology. ~ William D. Fletcher has
and systems integration is high new study indicates help is not been appointed vice president
on the list of factory automation seen as forthcoming from com- ~ Robert Turner has been of special projects by Allen-
projects. Flexible manufactur- puter and software vendors, promoted by LASR Robotics, Bradley. He had been head of
ing cells and systems are ex- who ranked last on a list of nine Inc. to U.S. district sales the company's Drives Division
pected to enjoy a four-fold potential sources of informa- manager. He has held several since 1980, and will be suc-
growth, and local area networks tion. Producers of manufactur- previous positions within ceeded in that position by
will increase three-fold. ing equipment were rated as LASR. Robert L. Swift, who was

32 ROBOTICS AGE September 1985


In The Robotics Age

formerly vice president and Co., Inc. He is chairman of the ~ Tactile Robot Systems and valuations, offshore facilities,
general manager of the Pack- board of trustees of the Educa- AnaPraxix, Inc. have formed a and interest in overseas joint
aged Control Products Divi- tional Foundation of America. joint venture to develop ad- ventures.
sion. Swift willbe succeeded by vanced software for robotic
Terry Nelson, who was that ~ Lester J. Colbert has joined control. The software will be ~ Teledyne CAE has ordered
division's director of opera- the board of directors of Adap- used in conjunction with tactile 11 Maestro systems from
tions. tive Intelligence Corp. Colbert sensors to identify, orient, and Manufacturing Data Exchange
is CEO, chairman of the board, place objects in materials (MDX). The Maestro product,
~ Colby Computer has an- president, and director of Xidex handling and assembly a DNC/Factory Feedback Sys-
nounced the election of Corp. Prior to joining Xidex, he operations. tem, will integrate 20 separate
Richard P. Ettinger, Jr. to the was with Reichhold Chemicals, NC machines with a Digital
company's board of directors. Inc. as vice president, board ~ Gould Inc. has announced
Equipment Corp. VAX-1l/780.
Ettinger was one of the original member, and member of the that it intends to reduce its
founders and chairman of the corporate executive committee. semiconductor operations, tak-
board of Wadsworth Publishing ing an approximate $250 ~ Microbot, Inc. has an-
million special write-off in the nounced its intention to enter
1985 second fiscal quarter. The the literary field with a series of
company cited continued new texts on applied robotics.
CORPORATE NEWS deterioration of the semicon- The four proposed books will
ductor market and resulting be part of a turnkey curriculum
~ International Roboma- Division. The new division has losses in its semiconductor that willbe used in conjunction
tion / Intelligence has an- also announced an exclusive operations. The write-offwillbe with the Microbot TeachMover
nounced a 300 percent in- agreement with Horyu Control used to address obsolete assets, and the Alpha II industrial
crease in revenues to $2.4 Engineering Co. Ltd. of Japan plant reductions, inventory robots.
million, making it the first vi- to sell and service the Japanese
sion company to report profits. firm's line of robot controllers PERSONAL ROBOTICS EXCLUSIVELY
IRI introduced its first vision in the U.S., Canada, and South FACTORY AUTHORIZED DEALERS
system in 1982 and has since America. HAVE YOU HEARD ABOUT SAVVY?
SAVVY is a natural language programming system lor the Apple II -. II E and
produced 400 systems for in- ~sO~tr1~~~
~ Parker Hannifin Corp. has ~~~g'~a~:~tal~duasr~ss.a~TSi~~.~a~~i~~;et6°~~~~~~c~h~Cr~i/i~i~~vi~I~/I?;~~~~

dustrial customers. Profits for as a robot control lan.9uage. Priced at 375.00 for the Apple version.
closer look at SAVVY wnte orcatl for our extensive catalog.
For a

signed an agreement to acquire


the third fiscal quarter of 1985 A FULL·LlNE ROBOT SUPPLIER
Schrader Bellows Inc., a sub-
were $31,000. t. Unlimited assistance. when you need.It.
2. Call if you have questions-we know our products
sidiary of Scovill, Inc., for ap- 3. Send for a complete catalog and price. list.

proximately $77.5 million in


~ American Technologies 1m) ~
cash. Schrader Bellows, a MOVIT
Year of the Robot
Inc. has closed three new leader in pneumatic automation Screwdriver
Avoider
Kits-No Solder-FUN
44.95 40.'5
Otivadott 54.95
A Robot In Every Home
financing arrangements to pro- products, willaugment Parker's
Circular
Line Tracer
67.95
39.95
63.75
36.75
Higgins
If I Had A Robot
14.95

Medusa 27.95 26.25 Wink less 10.95


mote further growth in its fac- products as part of its Fluid- Memoconcrawler 74.95 70.15
Monkey 24.95 23.65 rn!Il'im
tory automation business. One power activities, according to
Mr. Bootsman
Peppy .
30.95
24.95
29.25
23.65
RB ROBOT
Download from your computer
of the arrangements is a $2 Parker president and CEO Paul
Piper Mouse
Sound Skipper
44.95
24.95
40.13
23.65 RB5X 2295.00 2058.00
Turn Backer 39.95 36.75 Accessories CALL
million private placement with C. Schloemer. Nav'us 49.95 44.60 Program it in Tiny BASIC or use a SA VVY
We have sold hundreds of these items. to Tiny BASIC "compiler" AB5X has
the Massachusetts Mutual Life They work as they should and they last. bumpers and sonar; voice with sound ef-
HARVARD ASSOC. fects, arm, easy-ro-use programming lan-
Insurance Company. Funds ~ VSI Automation Assembly Valiant Turtle 400.00 guage, additional senses are available.
Excellent for simple educational appli- It is good quality. Our two demos have
from the note will provide ad- has announced its new status as cations. Complete. Specify Apple, 18M, seen hard use and haven 't broken down
vett
or Commodore interface.
ditional working capital for the a wholly owned subsidiary of AMERICAN FI$HERTECHNIK ARCTEC

company's Automated Factory the Japanese company Nitto 10-ln 1 Kit 199.95
Uses modular principle to build 10 diff-
GEMINI
GEMINEX Kit
6995.00
2995.00
6506.00
CALL
erent computer-controlled robots.
Systems Division, a supplier of Seiko Co. Ltd. VSI had been ~~~~~d~f:~~. ?~~a;'nl::fa~I:. Parallel.
A marvel. Three CPUs, voice recognition.
goal-oriented navigation, on-board disk

robotic and vision systems. the exclusive North American TECHNICAL INFO-WE
drive. detachable
CAN HELP. CALL
keyboard. and more.

distributor for Nitto Seiko Shipping Over $200 Add 4%. $200 And Under Add 5%.
Cash With Order Oeducl 3%. N.M. Orders Add 5% Sales Tax.
~ WMI Robot Systems, Inc., equipment modules and auto- Allow 4 Weeks For Delivery.

a wholly owned subsidiary of mated assembly systems, in-


EDS Technologies, lnc., has cluding SCARA robots, end-of- RIO GRANDE ROBOTICS 1-lG-
changed its name to EDS arm tooling, and pick-and-place A Division of Mobile Intelfigence Corporation.
1595 W. Picacho #28, Las Cruces, N.M. 88005, Tel. (505) 524·9480
Technologies, Inc.-Robotics mechanisms.
Circle 16 ROBOTICS AGE September 1985 33
New
Products
Compact Vacuum Gripper muLISP-85
B arryWright Corp. is offering a vacuum
gripper with built-in, adjustable con-
tact and grip sense. The VGC100 gripper
S oft Warehouse, Inc. is offering a new
version of muLISP that provides the
personal computer user with a window-
weighs 4.5 oz. and has a lift capacity of up based artificial intelligence programming en-
to 30 lbs. Cup sizes are available in vironment. muLISP runs on any generic
diameters of Ij2 in. to 4 in. An optional MS-DOS computer and is said to execute
vacuum transducer mounts on the gripper three times faster than its competitors and
base and allows operation on standard shop to store two to three times as much pro-
air. gram and data.
The VGI02 vacuum gripper system pro- muLISP has 260 primitives, the use of up
vides axial compliance and permits the grip- to 512 Kbytes, exact and approximate ra-
per to adapt to objects randomly oriented tional arithmetic in addition to integer
up to 60 degrees from the centerline. It has arithmetic, and user-definable macros as
a lift capacity of 3 lbs. and cup sizes of 5/8 well as functions. Soon to be released are
in. to 1/4 in. diameter. a native-code and a pseudo-code compiler.
For more information, contact: Peter N. For more information, contact: Soft
Cholakis, Product Line Manager, Barry Warehouse, Inc., PO Box 11174, Honolulu,
Wright Corp., 700 Pleasant St., Watertown, HI 96828-0174, telephone (808) 734-580l.
MA 02172, telephone (617) 924-2929. Circle 32
Circle 30

Industrial Environment for a Teaching Robot


P rep Incorporated and Eshed Robotec,
Ltd. have created an integrated in-
dustrial environment for their Scorbot
computer; call up programs from the host
computer to the pendant; find the relative
and hardhome positions; run a demo pro-
teaching robot. New additions include the gram stored in the pendant's memory; and
teach pendant, indexing rotary table, linear perform emergency braking. It can be
conveyor, and 12 volt DC servomotors. adapted to operate on other industrial robot
The 30-key ER III teach pendant enables systems.
the operator to: teach the robot up to 100 For more information, contact: Director
positions in space; write programs of up to of Marketing, Prep Incorporated, 1007 DO-LISP
250 lines using Scorbase software; transfer Whitehead Road Ext., Trenton, NJ 08638,
programs written from the pendant to a host telephone (609) 882-2668. Circle 31
V O-LISP, a powerful implementation of
LISP on microcomputers, is available
on the IBM PC and compatibles in a
package from Northwest Computer Algo-
rithms. The system is geared for profes-
sional programmers, engineers, researchers,
and educators who want mainframe func-
tions from their personal computers.
The kernel of the UO-LISP interpreter
contains over 200 standard LISP functions;
precompiled library packages expand the
system to over 400. The CP/M-based system
comes with a 300-page reference manual
and over 30 packages, including those
associated with compiling, debugging, pro-
gram development, extended arithmetic,
document processing, a higher-level
language, translator writing, and editing.
For more information, contact: Northwest
Computer Algorithms, PO Box 90995,
Long Beach, CA 90809, telephone (213)
426-1893. Circle 33

34 ROBOTICS AGE September 1985


New
Products
Enhanced Terrapin LOGO Vision System for Education
T errapin, Inc. is offering Enhanced
LOGO version 3.0 for use with the Ap-
ple II microcomputers. LOGO 3.0 contains
Tf'he Colvis Vision System from D&M
.1 Computing, Inc. is a self-contained
package consisting of a compact, 32 by 32
use in stand-alone mode or in conjunction
with a standard 8-bit micro. The system
operates at high speed, features a scrolling
two copies of LOGO on one disk, one for pixel, solid-state sensor camera with stand, program display, and is fully programmable.
64K and the other for 128K machines. It connected to a dedicated microcomputer; For more information, contact: D&M
requires only 7 seconds to load. In addition, a keypad; a 12 in. CRT; a power supply unit; Computing, Inc., PO Box 2102, Fargo, ND
users can access the editor and retain the and a student manual. The Z80-based com- 58107, telephone (70l) 235-7743 or (800)
image they were drawing. Terrapin will up- puter system has an RS-232 interface for 362-3145, ext. 117 (outside ND). Circle 36
date ve·rsions 2.0 and l.3 for its earlier
customers.
For more information, contact: Lorraine
Chouinard, Director of Marketing, Terrapin,
Inc., 222 Third St., Cambridge, MA 02142,
telephone (617) 492-8816. Circle 34

Tactile Sensor for Robots


Versatile Teaching Robot
T he Armatrol ESA 1010, available
from Feedback, Inc., is designed for
A set-point touch sensor for the
robotics and material handling in-
dustries has been introduced by Tactile
force from 4 oz. to 10 Ibs. with 0.050 in.
travel and field adjustable set-point. The
unit is packaged in a 1/4-20 threaded body.
instruction on the university, vocational- Robotic Systems. The sensor can be used Outputs are relay output or logic level
technical, military, and industrial levels. The to determine object presence and position, voltage.
robot features independent waist, shoulder, or to control insertion force and gripper For more information, contact: James B.
elbow, and wrist axes, a separate motor- force. It can also be used in weight measure- Hawkins, Tactile Robotic Systems, 1172-D
driven gripper, continuous position feed- ment applications. Aster Ave., Sunnyvale, CA 94086,
back on all axes, and comes complete with Standard units are available for maximum telephone (408) 241-1520. Circle 37
processor and parallel link gripper. The
gripper can open up to 2 in. and exerts a
force of up to 2 Ibs. Reach is 1l.5 in.
The educational package that comes with
the robot includes an interface and control
board, cable, integral power supply, and the
Armsoft #2 instructional software and
manual. The robot can be controlled by Ap-
ple, Commodore, Timex 1000, and AIM65
computers.
For m~re information, contact: Feedback,
Inc., 620 Springfield Ave., Berkeley
Heights, NJ 07922, telephone (201)
464-5181 or (800) 526-8783 (outside NJ).
Circle 35

ROBOTICS AGE September 1985 35


New
Products
Microcomputer Version of ANSYS SCARA Robot
for the Classroom
A NSYS-PC/LINEAR, a subset of
ANSY?, a software package for struc-
tural, thermal, fluid, electrical, and static
ANSYS-PC/LINEAR is said to solve a
variety of structural problems-determining
displacements, forces, stresses, strains, R Obotmart is marketing a SCARA type
robot developed by Reekie Research
electromagnetic analyses, is available from natural frequencies, and mode shapes. The Co., Ltd. of England and aimed at teaching
Swanson Analysis Systems, lnc. for the IBM hardware required is: an IBM PC/XT with students the principles of industrial
PC/AT and PC/XT. an 8087 processor or an IBM PC/AT with SCARAs. The Mini-SCARA™ has four
The element library contains two- and an 80287 processor, a minimum of 512 degrees of freedom. Model A is a DC step-
three-dimensional spars, beams, solids, Kbytes of memory, a 10-Mbyte disk on the per motor version with pneumatic Z stroke
shells, springs, and masses in addition to a XT or a 20-Mbyte disk on the AT, a stan- at the end of the arm, and Model B is all-
three-dimensional general matrix. Full- dard IBM color graphics monitor, and a electric with a stepper motor-driven Z-
color graphics and animation are standard parallel printer port. IBM compatibles with motion. Both models offer interchangeable
features. Plotting capabilities include single- similar configurations are also acceptable. end effectors. Tool tip speed is up to 20
window displays of hidden and non hidden For more information, contact: Suzanne in.lsec.; repeatability varies by speed and
line plots. Detailed on-line documentation C. Batt, Manager, Marketing and Training, workload.
is provided. An allowable linear static Swanson Analysis Systems, lnc., Johnson Programming is done on the IBM PC or
wavefront of 288 degrees of freedom per- Rd., PO Box 65, Houston, PA 15342-0065, other microcomputer connected to the
mits complex analyses. telephone (412) 746-3304. Circle 38 robot by a cable from the parallel printer
port to the Mini-SCARA's electronics. The
electronics can control three robots
simultaneously, operate robotic peripherals,
Robot Hand Exchange System or control optional material handling
VChange Horizon ™ is an advanced Another advantage of the system, accord- devices to simulate factory automation.
.L\. version of Applied Robotics, Inc.'s ing to the company, is that it allows serial For more information, contact: Jack
original XChange system that incorporates communications to be passed through the Heald, Robotmart, PO Box 1071, 4140 Oak
two coaxial cable connectors for video robot/tool interface, creating "smart tools" Circle, Boca Raton, FL 33431, telephone
cameras in addition to the 31 electrical and that perform specific tasks. The coaxial (305) 394-3723. Circle 40
four pneumatic connectors. The system also coupling allows data (such as the complex
has a one million cycle warranty. The new signal patterns associated with test probes)
coaxial capability allows vision systems (in- to be protected by the shielding of the coax-
cluding stereovision) to be accessed by the ial cabling while being transmitted long
robot arm on an as-needed basis. A single distances through environments prone to
robot equipped with XChange Horizon can electromagnetic interference.
handle all the tools used in an assembly For more information, contact: Charles
operation and then simply exchange the T. Harris, Marketing Manager, Applied
tools for visual inspection of parts Robotics, lnc., 18 Avis Dr., Latham, NY
orientation. 12110, telephone (518) 783-1800.
Circle 39 Classroom Training
Computer
T he CSA Micro 68000 from Computer
System Associates is a self-contained
teaching computer designed to train
engineers and technicians by demonstrating
logic analyzers and breadboard prototyping.
The package includes a 6 amp switching
power supply, full hexadecimal keyboard,
two RS-232 serial I/O ports, 32-bit parallel
I/O, 68000 Versabus computer board, Pete
Bug keyboard monitor, 16K RAM and 32K
ROM, and a complete set of manuals.
For more information, contact: Patricia
Chouinard, Computer System Associates,
7564 Trade St., San Diego, CA 92121,
telephone (619) 566-3911 or 274-739l.
Circle 41

36 ROBOTICS AGE September 1985


Locating sensor
and transducer products
-or a specific manufac-
turer or vendor-doesn't
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The 1985 Sensor and Transducer
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In addition to basic company
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listing in the 1985 Sensor and Trans-
ducer Director), includes a list of
distributors and representatives by
geographic location. Convenient inclices
let you locate specific companies by
the type of sensor that they produce or
the specific property being sensecl.
If you're looking for a sensing device-
be it a thermocouple, pressure sensor, load
cell, touch sensor, accelerometer, or whatever,
you'll find it in the 1985 Sensor and
Transducer Director),.
Save vourself the search, and order the 1985
Sensor and Transducer Director), today!

ONLY $39.95
o Please send copies of the 1985 Sensor
and Transducer Directory at $39.95 (includes postage and handling
costs). Total Enclosed $ .
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Overseas orders please add $8.00 for airmail postage.
9/85 RA

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