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Development of the concurrent process oriented language 'COL'

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This paper deals with the concurrent process oriented language (COL) for robot control systems. Implementation of the virtual machine to execute a COL program is also described. When we construct a systematized robot of high ability by connecting functions that have been developed separately, we have to combine systematically not only hardware but also software. In this case, if we can describe the control software of each function as concurrently executed processes (concurrent processes), these programs will be easily understandable in general. To describe this kind of software in ordinary languages, the control software of each function and the process scheduling software are combined in one program because ordinary languages are not able to describe concurrency well. Therefore much time is needed for programming and debugging of time-dependent errors. On the contrary, COL is a language which is capable of describing concurrency. It has the following functions: ( 1) concurrent processing, (2) event control, (3) priority control, (4) shared variable management, (5) real-time operation, (6) I/O handling, (7) interrupt handling, and (8) process state control. The COL system consists of two parts: the compiler for generating the P-code and the interpreter for executing the P-code (COL machine). Management of touch sensors attached to fingers, coordinate transformation, trajectory planning, and feedback control are described as processes by COL in the experiment, and the manipulator is controlled successfully by them. Furthermore, COL machine performance is analysed.
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Document Type: Research Article

Affiliations: Faculty of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113, Japan

Publication date: 1987-01-01

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