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Additional info for PasRo: Pascal and C for Robots

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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 DO ; where stands for "rec~rd variables seperated by commas".

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