Ein Mehrrechnersystem und Dessen Programmierung

Summary

The control of a complex industrial robot today requires digital computers in a multicomputer arrangement, specially when the algorithms for decoupling the degrees of freedom, for the coordinate-transformation and for supervision and security are concerned. Programming such a multicomputer system by use of a higher level realtime language will reduce costs and increase the transparency and maintainability of the software system. After a discussion of the necessary language elements and a suited language structure the design of an appropriated language is shown. The design is implemented on the basis of the language PEARL (Process and Experiment Automation Realtime Language), extended by language divisions and elements for the description of the structure of hardware and software in multicomputer systems. A Dynamic Loader, carrying out the software configuration and reconfiguration in case of failures is explained.