The Development Of A Programming Control Software For CincinnatiT~3-746 Robot

Robot Control System is an important topic of the study of the robots, and it is of great value to develop a good logical compiled language for the Robot Control System. In the Robot Control System, the language compiler direct has an effect on the off-line programming of the robot as absolute module, then it influences the efficiency of controlling robot. In this paper, a robot programming language compiler of the Open Control System is designed and implemented according to compiler principium.Firstly, the background of the project and the control configuration of the Opening Control System for Cincinnati T3-746 Robot are introduced. secondly, robot movement is analysed,and this paper also introduces the process of the calculation of forward kinematical equation and inverse kinematics equation. And then accidence analyzer and parsing are recommended. Moreover, concretely this paper explains the control framework of robot language. Finally, the design and implement, the communication between compilter module and PMAC, multithreading implement are all introduced in detail.For this paper, the leading task is to exploit a new robot control language. Using the new robot control language,the manipulator can control the diversified movement about robot. In a general way,a compiler is consist of accidence analyzer, parsing, semantic analysis, interim code creation, code optimization,end code creation.Because the new robot language is simple correspondingly,only accidence analyzer and parsing are used in the process of designing and implementing compiler. Their functions are embodied in Lexer and Parser respectively.