Because current robot teaching methods are inadequate to fully control a high accuracy manipulator, the concept of a graphical interface which combines both teaching and programming methods is presented here.

The complexity of user interfaces has become significant as manipulators and other programmable automation are applied to more industrial applications. Three dimensional visualization is an increasingly important aspect of the problem facing robotics programmer. Often the effector coordinates passed to the manipulator are not easily visualized in space. The introduction of a graphical environment the reduces the task of visualizing points, orientations, and trajectories. The environment developed here (the “TR-Environment”) provides the user with an off-line programming method where logic, repetitive tasks, and sensory control can be simplified. The environment consists of the integration of commercial CAD packages with computer languages. The program utilizes the so called “NODES” which define the six generalized coordinates and the state of the end-effector at a point in space. Trajectories in space can be planned by connecting nodes via “entities”. A new language (“Criptic”) associated with nodes where program branching, sensory control, digital communication, and adaptive control occurs, has been developed.

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