<s>
Robot	B-Application
software	I-Application
is	O
the	O
set	O
of	O
coded	B-General_Concept
commands	I-General_Concept
or	O
instructions	O
that	O
tell	O
a	O
mechanical	O
device	O
and	O
electronic	O
system	O
,	O
known	O
together	O
as	O
a	O
robot	B-Algorithm
,	O
what	O
tasks	O
to	O
perform	O
.	O
</s>
<s>
Robot	B-Application
software	I-Application
is	O
used	O
to	O
perform	O
autonomous	O
tasks	O
.	O
</s>
<s>
Many	O
software	O
systems	O
and	O
frameworks	O
have	O
been	O
proposed	O
to	O
make	O
programming	O
robots	B-Algorithm
easier	O
.	O
</s>
<s>
Some	O
robot	B-Application
software	I-Application
aims	O
at	O
developing	O
intelligent	O
mechanical	O
devices	O
.	O
</s>
<s>
Common	O
tasks	O
include	O
feedback	O
loops	O
,	O
control	O
,	O
pathfinding	B-Algorithm
,	O
data	O
filtering	O
,	O
locating	O
and	O
sharing	B-General_Concept
data	I-General_Concept
.	O
</s>
<s>
Each	O
manufacturer	O
has	O
their	O
own	O
robot	B-Application
software	I-Application
.	O
</s>
<s>
While	O
the	O
vast	O
majority	O
of	O
software	O
is	O
about	O
manipulation	O
of	O
data	O
and	O
seeing	O
the	O
result	O
on-screen	O
,	O
robot	B-Application
software	I-Application
is	O
for	O
the	O
manipulation	O
of	O
objects	O
or	O
tools	O
in	O
the	O
real	O
world	O
.	O
</s>
<s>
Software	O
for	O
industrial	O
robots	B-Algorithm
consists	O
of	O
data	O
objects	O
and	O
lists	O
of	O
instructions	O
,	O
known	O
as	O
program	O
flow	O
(	O
list	O
of	O
instructions	O
)	O
.	O
</s>
<s>
It	O
is	O
an	O
instruction	O
to	O
the	O
robot	B-Algorithm
to	O
go	O
to	O
positional	O
data	O
named	O
Jig1	O
.	O
</s>
<s>
Data	O
and	O
program	O
usually	O
reside	O
in	O
separate	O
sections	O
of	O
the	O
robot	B-Algorithm
controller	O
memory	O
.	O
</s>
<s>
Due	O
to	O
the	O
highly	O
proprietary	B-Application
nature	O
of	O
robot	B-Application
software	I-Application
,	O
most	O
manufacturers	O
of	O
robot	B-Algorithm
hardware	O
also	O
provide	O
their	O
own	O
software	O
.	O
</s>
<s>
While	O
this	O
is	O
not	O
unusual	O
in	O
other	O
automated	O
control	O
systems	O
,	O
the	O
lack	O
of	O
standardization	O
of	O
programming	O
methods	O
for	O
robots	B-Algorithm
does	O
pose	O
certain	O
challenges	O
.	O
</s>
<s>
For	O
example	O
,	O
there	O
are	O
over	O
30	O
different	O
manufacturers	O
of	O
industrial	O
robots	B-Algorithm
,	O
so	O
there	O
are	O
also	O
30	O
different	O
robot	B-Algorithm
programming	O
languages	O
required	O
.	O
</s>
<s>
There	O
are	O
enough	O
similarities	O
between	O
the	O
different	O
robots	B-Algorithm
that	O
it	O
is	O
possible	O
to	O
gain	O
a	O
broad-based	O
understanding	O
of	O
robot	B-Algorithm
programming	O
without	O
having	O
to	O
learn	O
each	O
manufacturer	O
's	O
proprietary	B-Application
language	O
.	O
</s>
<s>
One	O
method	O
of	O
controlling	O
robots	B-Algorithm
from	O
multiple	O
manufacturers	O
is	O
to	O
use	O
a	O
Post	B-Application
processor	I-Application
and	O
Off-line	B-Application
programming	I-Application
(	O
robotics	O
)	O
software	O
.	O
</s>
<s>
With	O
this	O
method	O
,	O
it	O
is	O
possible	O
to	O
handle	O
brand-specific	O
robot	B-Algorithm
programming	O
language	O
from	O
a	O
universal	O
programming	O
language	O
,	O
such	O
as	O
Python	B-Language
(	O
programming	O
language	O
)	O
.	O
</s>
<s>
however	O
,	O
compiling	O
and	O
uploading	O
fixed	O
off-line	O
code	O
to	O
a	O
robot	B-Algorithm
controller	O
does	O
n't	O
allow	O
the	O
robotic	O
system	O
to	O
be	O
state	O
aware	O
,	O
so	O
it	O
cannot	O
adapt	O
its	O
motion	O
and	O
recover	O
as	O
the	O
environment	O
changes	O
.	O
</s>
<s>
Unified	O
real-time	O
adaptive	O
control	O
for	O
any	O
robot	B-Algorithm
is	O
currently	O
possible	O
with	O
a	O
few	O
different	O
third-party	O
tools	O
.	O
</s>
<s>
Some	O
examples	O
of	O
published	O
robot	B-Algorithm
programming	O
languages	O
are	O
shown	O
below	O
.	O
</s>
<s>
VAL	B-Language
was	O
one	O
of	O
the	O
first	O
robot	B-Algorithm
‘	O
languages’	O
and	O
was	O
used	O
in	O
Unimate	O
robots	B-Algorithm
.	O
</s>
<s>
Variants	O
of	O
VAL	B-Language
have	O
been	O
used	O
by	O
other	O
manufacturers	O
including	O
Adept	O
Technology	O
.	O
</s>
<s>
Clearly	O
,	O
the	O
robot	B-Algorithm
should	O
not	O
continue	O
the	O
next	O
move	O
until	O
the	O
gripper	O
is	O
completely	O
closed	O
.	O
</s>
<s>
The	O
LEGO	B-Application
Mindstorms	I-Application
EV3	I-Application
programming	O
language	O
is	O
a	O
simple	O
language	O
for	O
its	O
users	O
to	O
interact	O
with	O
.	O
</s>
<s>
It	O
is	O
a	O
graphical	O
user	O
interface	O
(	O
GUI	O
)	O
written	O
with	O
LabVIEW	B-Application
.	O
</s>
<s>
A	O
scripting	B-Language
language	I-Language
is	O
a	O
high-level	O
programming	O
language	O
that	O
is	O
used	O
to	O
control	O
the	O
software	O
application	O
,	O
and	O
is	O
interpreted	O
in	O
real-time	O
,	O
or	O
"	O
translated	O
on	O
the	O
fly	O
"	O
,	O
instead	O
of	O
being	O
compiled	O
in	O
advance	O
.	O
</s>
<s>
A	O
scripting	B-Language
language	I-Language
may	O
be	O
a	O
general-purpose	O
programming	O
language	O
or	O
it	O
may	O
be	O
limited	O
to	O
specific	O
functions	O
used	O
to	O
augment	O
the	O
running	O
of	O
an	O
application	O
or	O
system	O
program	O
.	O
</s>
<s>
Some	O
scripting	B-Language
languages	I-Language
,	O
such	O
as	O
RoboLogix	B-Application
,	O
have	O
data	O
objects	O
residing	O
in	O
registers	O
,	O
and	O
the	O
program	O
flow	O
represents	O
the	O
list	O
of	O
instructions	O
,	O
or	O
instruction	B-General_Concept
set	I-General_Concept
,	O
that	O
is	O
used	O
to	O
program	O
the	O
robot	B-Algorithm
.	O
</s>
<s>
Programming	O
languages	O
are	O
generally	O
designed	O
for	O
building	O
data	B-General_Concept
structures	I-General_Concept
and	O
algorithms	O
from	O
scratch	O
,	O
while	O
scripting	B-Language
languages	I-Language
are	O
intended	O
more	O
for	O
connecting	O
,	O
or	O
“	O
gluing	O
”	O
,	O
components	O
and	O
instructions	O
together	O
.	O
</s>
<s>
Consequently	O
,	O
the	O
scripting	B-Language
language	I-Language
instruction	B-General_Concept
set	I-General_Concept
is	O
usually	O
a	O
streamlined	O
list	O
of	O
program	O
commands	O
that	O
are	O
used	O
to	O
simplify	O
the	O
programming	O
process	O
and	O
provide	O
rapid	O
application	O
development	O
.	O
</s>
<s>
Parallelism	O
is	O
where	O
the	O
robot	B-Algorithm
does	O
two	O
or	O
more	O
things	O
at	O
the	O
same	O
time	O
.	O
</s>
<s>
URBI	B-Application
provides	O
a	O
higher	O
level	O
of	O
abstraction	O
by	O
integrating	O
parallelism	O
and	O
events	O
in	O
the	O
core	O
of	O
the	O
language	O
semantics	O
.	O
</s>
<s>
The	O
above	O
code	O
will	O
move	O
the	O
headPan	O
and	O
headTilt	O
motors	O
in	O
parallel	O
to	O
make	O
the	O
robot	B-Algorithm
head	O
follow	O
the	O
human	O
face	O
visible	O
on	O
the	O
video	O
taken	O
by	O
its	O
camera	O
whenever	O
a	O
face	O
is	O
seen	O
by	O
the	O
robot	B-Algorithm
.	O
</s>
<s>
Regardless	O
which	O
language	O
is	O
used	O
,	O
the	O
end	O
result	O
of	O
robot	B-Application
software	I-Application
is	O
to	O
create	O
robotic	O
applications	O
that	O
help	O
or	O
entertain	O
people	O
.	O
</s>
<s>
Command-and-control	O
software	O
includes	O
robot	B-Algorithm
control	O
GUIs	O
for	O
tele-operated	O
robots	B-Algorithm
,	O
point-n-click	O
command	O
software	O
for	O
autonomous	O
robots	B-Algorithm
,	O
and	O
scheduling	O
software	O
for	O
mobile	O
robots	B-Algorithm
in	O
factories	O
.	O
</s>
<s>
General	O
purpose	O
robot	B-Algorithm
application	O
software	O
is	O
deployed	O
on	O
widely	O
distributed	O
robotic	O
platforms	O
.	O
</s>
<s>
Programming	O
errors	O
represent	O
a	O
serious	O
safety	O
consideration	O
,	O
particularly	O
in	O
large	O
industrial	O
robots	B-Algorithm
.	O
</s>
<s>
The	O
power	O
and	O
size	O
of	O
industrial	O
robots	B-Algorithm
mean	O
they	O
are	O
capable	O
of	O
inflicting	O
severe	O
injury	O
if	O
programmed	O
incorrectly	O
or	O
used	O
in	O
an	O
unsafe	O
manner	O
.	O
</s>
<s>
Due	O
to	O
the	O
mass	O
and	O
high-speeds	O
of	O
industrial	O
robots	B-Algorithm
,	O
it	O
is	O
always	O
unsafe	O
for	O
a	O
human	O
to	O
remain	O
in	O
the	O
work	O
area	O
of	O
the	O
robot	B-Algorithm
during	O
automatic	O
operation	O
.	O
</s>
<s>
Thus	O
,	O
even	O
if	O
the	O
software	O
is	O
free	O
of	O
programming	O
errors	O
,	O
great	O
care	O
must	O
to	O
be	O
taken	O
to	O
make	O
an	O
industrial	O
robot	B-Algorithm
safe	O
for	O
human	O
workers	O
or	O
human	O
interaction	O
,	O
such	O
as	O
loading	O
or	O
unloading	O
parts	O
,	O
clearing	O
a	O
part	O
jam	O
,	O
or	O
performing	O
maintenance	O
.	O
</s>
<s>
The	O
ANSI/RIA	O
R15.06-1999	O
American	O
National	O
Standard	O
for	O
Industrial	O
Robots	B-Algorithm
and	O
Robot	B-Algorithm
Systems	O
-	O
Safety	O
Requirements	O
(	O
revision	O
of	O
ANSI/	O
R15.06-1992	O
)	O
book	O
from	O
the	O
Robotic	O
Industries	O
Association	O
is	O
the	O
accepted	O
standard	O
on	O
robot	B-Algorithm
safety	O
.	O
</s>
<s>
This	O
includes	O
guidelines	O
for	O
both	O
the	O
design	O
of	O
industrial	O
robots	B-Algorithm
,	O
and	O
the	O
implementation	O
or	O
integration	O
and	O
use	O
of	O
industrial	O
robots	B-Algorithm
on	O
the	O
factory	O
floor	O
.	O
</s>
