  Industrial robotics is characterized by sophisticated mechanical components
and highly-developed real-time control algorithms. However, the efficient use
of robotic systems is very much limited by existing proprietary programming
methods. In the research project SoftRobot, a software architecture was
developed that enables the programming of complex real-time critical robot
tasks with an object-oriented general purpose language. On top of this
architecture, a graphical language was developed to ease the specification of
complex robot commands, which can then be used as part of robot application
workflows. This paper gives an overview about the design and implementation of
this graphical language and illustrates its usefulness with some examples.
