PINROB: A portable API for industrial robots

  • M. González Harbour
  • R. Gómez Somarriba
  • A. Strohmeier
  • J. Jacot
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 1411)


This paper describes a software architecture for industrial robots used in manufacturing equipment. In order to achieve software portability, the application software is dissociated from the low-level robot controller software. The interaction between these two pieces of software is achieved by a portable application programming interface (API) for industrial robots. We discuss the requirements for such an API, and propose a design called PINROB.


Robot Manufacturing Cell Production Cell Robot Programming Language Application Programming Interface API Software Portability Ada 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    A. Aasten, G. Elia, G. Menga. “G++: A Pattern Language for Computer Integrated Manufacturing”; Proceedings PLOPS'94, (J. Coplien and D. Schmidt, eds.), Addison-Wesley, Reading, Mass., 1995, pp. 91–118.Google Scholar
  2. [2]
    ABB Robotics Products AB. “ABB S4 Rapid programming language. User's Guide”.Google Scholar
  3. [3]
    Adept Technology Inc. “V and V+ Reference Guide”, Vol. 1/2, Version. 10.1, Oct. 1990.Google Scholar
  4. [4]
    Adept Technology Inc. “SILTOOLS Developer's Guide.”, 1996.Google Scholar
  5. [5]
    AUTOMELEC. “Lucie. Description des Instructions.”Google Scholar
  6. [6]
    Demaurex. “Logiciel Delta95: Fonctionnalités de la couche haut niveau”, Version. 4.0.Google Scholar
  7. [7]
    M. González Harbour and A. Strohmeier. “Requirements for Portable API for Industrial Roâots. Version 2.1”. Internal report, February 1998.Google Scholar
  8. [8]
    M. González Harbour and A. Strohmeier. “PINROB Specification. Version 2.1”. Internal report, February 1998.Google Scholar
  9. [9]
    H. A. Schmid. “Creating Applications from Components: A Manufacturing Framework Design” in IEEE Software, Nov. 1996, pp. 75.Google Scholar
  10. [10]
    Siemens. “SIROTEC ACR-20. Software Version 4. Programming, parts 1–3”.Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1998

Authors and Affiliations

  • M. González Harbour
    • 1
  • R. Gómez Somarriba
    • 1
  • A. Strohmeier
    • 2
  • J. Jacot
    • 2
  1. 1.Departamento de Electrónica y ComputadoresUniversidad de CantabriaSantanderSpain
  2. 2.Department of Computer Science & Department of Micro-EngineeringSwiss Federal Institute of TechnologyLausanneSwitzerland

Personalised recommendations