Trajectory Description Conception for Industrial Robots

Abstract:
In this paper we observe the difficulties one can face, while wiling to obtain a complicated robot movement, like using multiple standalone or implemented in different MPLs (Motion Planning Library) algorithms. We propose a new conception and a language whose goal is to solve these problems. The idea is to present an interface between robot programming instruments and existing algorithms. In contrast to the existing related methods, we propose approach based on the declarative language (without control flow) for a trajectory specification. Our goal is to provide a powerful tool for developers of software approaches for industrial robots programming. It should allow them to obtain difficult motions by easy combination of different MPLs in one application using unified specification of the movement. In addition, the proposed conception hides the inner structure of libraries and eliminates the need to investigate algorithms before applying. That would increase the speed and the quality of the newly developed software systems.