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Robot control system

  • US 5,608,619 A
  • Filed: 03/13/1995
  • Issued: 03/04/1997
  • Est. Priority Date: 03/25/1994
  • Status: Expired due to Term
First Claim
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1. A control system for an industrial robot comprising a program executor and a program storage arranged for storing and executing a user program including a series of robot instructions, wherein at least one of the robot instructions is a shell instruction which constitutes a call to a shell routine comprising:

  • a forward list comprising a first set of robot instructions;

    a backward list comprising a second set of robot instructions;

    the shell routine being associated with a number of optional attributes which may be activated or deactivated; and

    the program executor is adapted for running the user program forward to execute the shell instruction in accordance with the forward list and for running the user program backwards, to execute the shell instruction in accordance with the backward list.

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