In Nordic Journal of Computing 6(1999), 36-55
APPLAB supports the development of domain-specific languages by providing a high-level specification formalism (reference attributed grammars), and by providing integrated language-based support for editing syntax, semantics and the application program. The tool was connected to an industrial robot and confronted with programming topics encountered in typical industrial applications. Experiences from our full-scale prototype, including the development of a robot programming language, shows that interactive language development is very beneficial for programming of embedded systems.