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Software for industrial robots consists of data objects and lists of instructions, known as program flow (list of instructions). For example,
Go to Jig1
is an instruction to the robot to go to positional data named Jig1. Of course programs can also contain implicit data for example
Tell axis 1 move 30 degrees.
Data and program usually reside in separate sections of the robot controller memory. One can change the data without changing the program and vice versa. For example, one can write a different program using the same Jig1 or one can adjust the position of Jig1 without changing the programs that use it.
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Another interesting approach is worthy of mention. All robotic applications need parallelism and event-based programming. Parallelism is where the robot does two or more things at the same time. This requires appropriate hardware and software. Most programming languages rely on threads or complex abstraction classes to handle parallelism and the complexity that comes with it, like concurrent access to shared resources. [[URBI]] provides a higher level of abstraction by integrating parallelism and events in the core of the language semantics.
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whenever(face.visible)
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