The paper describes that development of task instruction in the form of natural language to task procedure for robots can be easily made by description of procedure for functions and roles peculiar to parts that we have as image in the object as knowledge by installation of object oriented concept into assemble task programming.
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S. Aramaki, "Knowledge Based Robot Programming," J. Robot. Mechatron., Vol.3, No.5, pp. 428-434, 1991.