CONC: A program for analyzing concurrent robot programs without loops

CONC is a language and simulator for multi-arm cartesian robot systems performing assembly of flat aircraft parts. CONC provides constructs for concurrency which permit the user to command simultaneous motion of multiple arms. Robot programs are represented internally as trees, and functions are provided to traverse these trees computing new properties such as the origins and timings of motion statements. Users learn properties of programs and statements by means of a question/answer interface. LISP appears to be an appropriate language in which to embed the language and simulator.