Collaborative-robot control software

We developed software that runs on the controller of an industrial collaborative robot built to work beside people. Robots like this go into processes such as welding, assembly, and logistics where people work alongside them. Unlike an app that draws screens, this code turns into the movement of a real machine, so a mishandled state or a data error becomes a motion error. Handling inputs, state changes, and exceptions conservatively was the rule. The work covers the module structure of the control functions and the data handling that stores and reads settings and control state.