Design And Implementation Of Robot Graphic Programming System

With the rapid development of computer, microelectronics, automatic control, and network technology, robotics technology has been rapid development. In recent years, with the expanding field of human activity, robot applications have moved from manufacturing to the non-manufacturing sectors. However, as a wide range of knowledge that the robots are involved in, programming development still has high threshold and low efficiency, and difficult to spread. In response to this phenomenon, the attempts to ease the programming development are more than ever before. The robot-based graphical programming development platform becomes a research hotspot.In the context of such a research, a robot programming graphical programming platform-RGPS, which ideas based on event-driven, has been developed. And the key issues and application of this programming platform has also been researched. The main contents are as follows:(1) For there is a problem of diversity of the current robot communication / control interface, we designed a communication protocol-EzCAN protocol, which based on CAN communication protocol, is a simple and powerful protocol. It includes signal acquisition, motor control and system configuration sections, which in line with most of the robot application environment. And it is easy to extend too.(2) An event-driven based graphical programming idea on robot programming is given, as well as the implementations of graphical statement, expressions and other programming unit. Distinguish the characteristics of using graphical programming unit, while using modular programming method could greatly reducing the developer's risk of errors in the programming process, and saving the robot system development cycle.(3) In order to facilitate the realization of cross-platform programming on different hardware, the JAVA-like virtual machine idea is used. We have defined a set of specific machine codes. And a virtual machine-RTVM, which based on the 32-bit embedded development platform, has also been developed. RTVM provides the robot data acquisition and controlling through the interpretation of RTVM machine code.(4) The software engineering thought has been used on the designment of the programming system. By the way of layered structure, RGPS is decomposed into different modules, including graphical programming interface, compiler, assembler, virtual machine. And we use the interfaces between the modules to connect each other. It also increases the system reliability and scalability.As the application showing, RGPS not only achieves the function, but also has good adaptability. And the efficiency of the application development of robot could be greatly enhanced.