There is nothing off the rack to be had. All of these companies design their own firmware and robotic control protocol.
--- Due to the highly proprietary nature of robot software, most manufacturers of robot hardware also provide their own software. While this is not unusual in other automated control systems, the lack of standardization of programming methods for robots does pose certain challenges. For example, there are over 30 different manufacturers of industrial robots, so there are also 30 different robot programming languages required. There are enough similarities between the different robots that it is possible to gain a broad-based understanding of robot programming without having to learn each manufacturer's proprietary language.[1]
--- VAL was one of the first robot ‘languages’ and was used in Unimate robots.[3] Variants of VAL have been used by other manufacturers including Adept Technology. Stäubli currently use VAL3.
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