{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T06:41:01Z","timestamp":1697956861091},"reference-count":12,"publisher":"Wiley","issue":"4","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7407,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1986,12]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>This article describes the motion\u2010oriented robot language IML (interactive manipulator language) with the characteristic of a functional programming language. The main functions of IML are (1) It is possible to describe the iterative motions without using a loop. (2) The user\u2010defined procedures (commands) can be called by specifying the command name. (3) It is possible to describe robot motion (a sequence of the position and orientation of a robot hand) and force magnitude in the task\u2010oriented Cartesian coordinate system (task coordinate system) suitable for robot tasks. Furthermore, it is possible to describe the translation and rotation of the coordinate system without syntactic distinction. (4) As the teaching data can be easily embedded in the language and can be played back in the force control mode, complex task programming becomes easy. In IML, as the user\u2010defined command and the teaching data can be used just as the builtin system command; the system can be extended easily and naturally. In this article these features are described, and it is shown that these functions can be realized with the unified representation by introducing the concept of a functional programming language. The effectiveness of IML was confirmed by actually making a robot perform some tasks programmed in IML.<\/jats:p>","DOI":"10.1002\/rob.4620030407","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T04:21:00Z","timestamp":1183695660000},"page":"425-440","source":"Crossref","is-referenced-by-count":3,"title":["The manipulator language with the characteristic of a functional programming language"],"prefix":"10.1002","volume":"3","author":[{"given":"Shigeto","family":"Aramaki","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","volume-title":"User's Guide to VAL (Version 11)","author":"Unimation Inc.","year":"1979"},{"key":"e_1_2_1_3_2","volume-title":"Programming Languages Design and Implementation","author":"Pratt T. W.","year":"1975"},{"key":"e_1_2_1_4_2","doi-asserted-by":"publisher","DOI":"10.9746\/sicetr1965.19.494"},{"key":"e_1_2_1_5_2","doi-asserted-by":"crossref","first-page":"155","DOI":"10.3951\/biomechanisms.3.155","article-title":"Control of an Artificial Hand which have a Distinctive Feature in its Mechanism","volume":"3","author":"Ito N.","year":"1975","journal-title":"Biomechanism"},{"key":"e_1_2_1_6_2","doi-asserted-by":"crossref","first-page":"172","DOI":"10.3951\/biomechanisms.3.172","article-title":"Method for Composing Control Algorithm of an Artificial Hand and Dynamic Control Mode","volume":"3","author":"Uchiyama M.","year":"1975","journal-title":"Biomechanism"},{"key":"e_1_2_1_7_2","unstructured":"T.Suehiro \u201cRobot language based on the motion description in the task coordinate system \u201dProc. 22nd Japan Conference on SICE Tokyo1983 pp.103\u2013104."},{"key":"e_1_2_1_8_2","unstructured":"R.Abeet al. \u201cThe programming language for welding robot \u201dProc. 11th ISIR Tokyo1981 pp.691\u2013698."},{"key":"e_1_2_1_9_2","doi-asserted-by":"publisher","DOI":"10.1177\/027836498200100302"},{"key":"e_1_2_1_10_2","first-page":"156","volume-title":"Flexible language and control system eases robot programming","author":"Larson T. M.","year":"1984"},{"key":"e_1_2_1_11_2","volume-title":"AL Users Manual","author":"Mujtaba S.","year":"1979"},{"key":"e_1_2_1_12_2","unstructured":"Mitsubishi Electric Company Movemaster RM\u2010101 Reference Manual 1982."},{"key":"e_1_2_1_13_2","unstructured":"T.Imamura \u201cComputer Control of an Artificial Hand with Force Feedback Sensors \u201dProc. 20th Japan Joint Conference on Automatic Control 1977 pp.235\u2013236."}],"container-title":["Journal of Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/api.wiley.com\/onlinelibrary\/tdm\/v1\/articles\/10.1002%2Frob.4620030407","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/pdf\/10.1002\/rob.4620030407","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,10,21]],"date-time":"2023-10-21T10:05:14Z","timestamp":1697882714000},"score":1,"resource":{"primary":{"URL":"https:\/\/onlinelibrary.wiley.com\/doi\/10.1002\/rob.4620030407"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1986,12]]},"references-count":12,"journal-issue":{"issue":"4","published-print":{"date-parts":[[1986,12]]}},"alternative-id":["10.1002\/rob.4620030407"],"URL":"https:\/\/doi.org\/10.1002\/rob.4620030407","archive":["Portico"],"relation":{},"ISSN":["0741-2223","1097-4563"],"issn-type":[{"value":"0741-2223","type":"print"},{"value":"1097-4563","type":"electronic"}],"subject":[],"published":{"date-parts":[[1986,12]]}}}