Development of a command language for programming a robotic actuator

Abstract The paper presents an actuator programming language IPL in brief. This elementary language is optimized to control independent actuators in a distributed environment, where actuators communicate with a machine controller via an intra-machine communication network. In this environment the role of the higher control level is to command independent actuators. The language IPL is found to be suitable for elementary machines, but it is clear that a higher-level programming language is needed for robotics.