Application of Tcl/Tk for a Robotic System

This paper addresses the application of Tcl/Tk language to develop a graphical user interface (GUI) for a robotic system, which consists of a robot manipulator, a CCD camera and a force sensor. The GUI is used to monitor the interaction forces, set the camera-robot system parameters and execute user- developed routines in order to improve the performance of the experimental tests. I. I NTRODUCTION