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By Dr. rer. nat. Christian Blume, Dipl.-Inform. Wilfried Jakob, John Favaro M.S.C.S. (auth.)
The moment version of PASRO - Pascal for Robots comprises a few new elements of the PASRO improvement in the final years. in addition to the PASRO implementation on different desktops with the aid of diversified Pascal compilers and working platforms, one major new improvement has been the implementation of the PASRO inspiration within the programming language C. consequently the second one variation is split into significant components: A. The revised and little prolonged "old" PASRO description of the 1st variation in response to Pascal. B. the hot PASRO/C description in response to C. in fact we all know that the identify "PASRO/C· is a contradiction in phrases, yet we selected it, so as to use the well-known identify PASRO in destiny. the extra writer John Favaro is respon sible for the PASRO/C implementation and the des~ription whereas Christian Blume designed the PASRO thought and applied the unique PASRO, including Wilfried Jakob. extra thank you are devoted to Jan Schloen and Thomas Eppting, who helped us to enforce PASRO/C. we'd additionally prefer to thank all readers of the 1st variation, who despatched us their reviews and corrections. among those, spe cial due to G. Macartney from the Queen's collage of Bel fast.
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Additional info for PasRo: Pascal and C for Robots
1). 2) there are several system procedures in PASRO for performing moves. There is also a new data type "thetai" predeclared as an array of 6 real numbers, which represent the values of robot axes. Even if a robot has only 5 joints, the array "thetai" is declared for 6 axes, representing 6 robot joints. Thus the system is easily adaptable to robots with a different number of axes. The missing joints are then automatically set to zero. A robot with 6 degrees of freedom can reach any position in its working sphere (3 degrees of freedom), with and any orientation (3 degrees of freedom).
Multia list of index types, seperated by example demonstrates legal declarations CONST m = 10; n • 12; TYPE lineartype matrixltype matrix2type cfieldtype = = = ARRAY ARRAY ARRAY ARRAY [1 •• 4] OF INTEGER; [l •• n,l •• m] OF REAL; [l •• n] OF ARRAY [l •• m] OF REAL; [mycolor] OF BOOLEAN; 29 VAR lin lineartype; matr1: matrix1typ; matr2: matrix2typ; colorfield: cfieldtype; index: INTEGER; The number of dimensions is not limited. The second example is a nested array, while the third shows the same matrix as a different array type in a more convenient way.
Note that the two fields, although having the same name, are distinguished by their relation to their record. 28 The above notation can be a bit tedious, especially with nested records, so there is a special statement in Pascal which opens the scope of a certain record. number := 4; number :- 10; END; will have the same result as the former form is: example. The general WITH
stands for "rec~rd variables seperated by commas".
PasRo: Pascal and C for Robots by Dr. rer. nat. Christian Blume, Dipl.-Inform. Wilfried Jakob, John Favaro M.S.C.S. (auth.)