Off-Line Programming of Exception Handling Strategies

Abstract This Paper addresses the problem of handung exceptions during robot program execution. A model for off-line programming of exception handling strategies is presented and the realization of the sub modules is described. The exception handling strategies are used to specify the actions to take in case exceptions occur. The programming environment enables the generation of robot programs with exception handling capabilities and at the same time reduces the required effort from the application programmer. A description is given of the realized simulation techniques and the user interface of the programming system.