A Manufacturing Language

AML
Paradigm	Imperative (procedural)
Designed by	Russell H. Taylor
First appeared	1978; 47 years ago
Major implementations
	AML, AML/2, AML/E, AML/V, AML/X
Influenced by
	ALGOL 68, SAIL, AL

A Manufacturing Language (AML) is a robot programming language created by IBM in the 1970s and 80s, for its RS 1 robot and other robots in its Robot Manufacturing System product line.^[3]^[4] The systems were used in factory automation by customers such as Plessey and Northern Telecom.^[5] They are no longer listed as available from IBM, but robots and parts can occasionally be found in used condition on auction sites, and are refurbished by hobbyists.^[6]

AML/2, AML/E, AML/V, and AML/X are versions and derivatives of AML.^[7]

AML programs can call subroutines written in AML, C, or FORTRAN. Programs are coded off-line, and can be tested with an off-line simulator. Prior to execution on the robot, they are uploaded to RAM residing in the robot's control unit.^[8]

Source code example

The following example shows code for a peg-in-hole program.^[9]

PICKUP: SUBR (PART__DATA, TRIES);
   MOVE(GRIPPER, DIAMETER(PART__DATA)+0.2);
   MOVE(<1,2,3>, XYZ__POSITION(PART__DATA)+<0,0,1>);
   TRY__PICKUP(PART__DATA, TRIES);
   END;

TRY__PICKUP: SUBR(PART__DATA, TRIES);
   IF TRIES LT 1 THEN RETURN('NO PART');
   DMOVE(3,-1.0);
   IF GRASP(DIAMETER(PART__DATA)) = 'NO PART'
      THEN TRY__PICKUP(PART__DATA, TRIES - 1);
   END;

GRASP: SUBR(DIAMETER, F);
   FMONS: NEW APPLY($ MONITOR, PINCH__FORCE(F));
   MOVE(GRIPPER, 0, FMONS);
   RETURN( IF QPOSITION(GRIPPER) LE DIAMETER/2
              THEN 'NO PART'
              ELSE 'PART' );
   END;

INSERT: SUBR(PART__DATA, HOLE);
   FMONS: NEW APPLY($ MONITOR, TIP__FORCE(LANDING__FORCE));
   MOVE(<1,2,3>, HOLE+<O,O,.25>);
   DMOVE(3, -1.0, FMONS);
   IF QMONITOR(FMONS) = 1
      THEN RETURN('NO HOLE');
   MOVE(3, HOLE(3) + PART__LENGTH(PART__DATA));
   END;

PART__IN__HOLE: SUBR(PART__DATA, HOLE);
   (PICKUP PART__DATA 2.);
   (INSERT PART__DATA HOLE);
   END;