Abstract: A programming language environment that includes an object compiler and associated object execution engine. The object compiler parses and converts source code into object-oriented, compiled code that is platform independent and that can be executed by the object execution engine at speeds close to that of a true compiled binary executable. The compiler parses the statements of source code and converts each statement into one or more pre-defined, persistent instruction objects. Then, it orders the instruction objects, generating a sequence of instruction objects that are stored as a platform-independent file. The instruction objects each have a virtual initialize method, a virtual execute method, and an index indicative of the next instruction object in the sequence. Data used in the statements can be represented as persistent data objects and the instruction objects and data objects can be stored in separate stacks (i.e., as linked lists), with their indices indicating their position within the stack.

Abstract: A minimum time path generation routine for a motion control system, where the routine is uniquely adapted for use in a digital mechanization.

Abstract: A feedforward path following routine for a motion control system, where the feedforward parameters are adaptively adjusted in real time during system operation for substantially error-free tracking of a third-order command path.