Hierarchical programming of assembly tasks

In the programming process for robotic assembly tasks, two specification levels are discerned: a task level which describes the task logical form, and an operative level which specifies the task concrete form. At the first level, the task is specified in terms of abstract functions; the aim is to describe explicitly the evolution of the real process. The second deals with specification of sequences of processor state transformations. Hierarchical programming which deals with a rigorous methodology to ensure the program is presented