A research project is presented dealing with the design of an explicit off-line robot programming system called LOLA (Leuven Off-line LAnguage), with innovative features with respect to existing languages like VAL, AL, Frames are used as manipulation variables. However, the system is supported by a world model, the structuring capabilities of which enable the user to reason in terms of the manipulation of objects. In view of new robot applications requiring faster movements with high accuracy, the system offers a wide variety of motion specification mechanisms yielding excellent dynamic performance.
A general compliant motion strategy, based on force sensor inputs, is incorporated in the programming system. A generalisation to other sensor types like vision, proximity, contact sensors is also provided.