PINROB: A portable API for industrial robots.

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. [ABSTRACT FROM AUTHOR]