Robotique Modélisation et commande des robots manipulateurs - AVR

Contrôleur de robot : programmation
; Define a simple transformation
SET loc_a = TRANS(300,50,350,0,180,0)
; Move to the location
MOVE loc_a
BREAK
; Move to a location offset -50mm in X, 20mm in Y,
; and 30mm in Z relative to "loc_a"
MOVE loc_a:TRANS(-50, 20, 30)
BREAK
; Define "loc_b" to be the current location relative
; to "loc_a"
HERE loc_a:loc_b ;loc_b = -50, 20, 30, 0, 0, 0
BREAK
; Define "loc_c" as the vector sum of "loc_a" and "loc_b"
SET loc_c = loc_a:loc_b ;loc_c = 350, 70, 320, 0, 180, 0
; Once this code has run, loc_b exists as a
; transformation that is completely independent
; of loc_a. The following instruction moves the
; robot another -50mm in the x, 20mm in the y,
; and 30mm in the z direction (relative to loc_c):
MOVE loc_c:loc_b