To figure out how to expand/extend the VAL robot programming language, I reverse-engineered the VAL language ROMs in 1985.
My master thesis shows the internals of the VAL robot programming language. As far as I know, there is no other techical document that reveals the internals of a commercial robot programming language.
The Japanese indistrial standard on robot programming languages tooks many commands from the VAL and the descendants of the VAL are still used in many robot systems. Thus, it would be interesting to take a look at how robot programming languages began.
The draft of my master thesis was written in English, but for some reasons the final version was re-written in Korean.design-of-a-robot-programming-system-master