| As the premise of effective control of robot, the robot programming languageoccupies a very important position in the entire robot CNC system，it directly affects thejob and off-line programming of industrial robots, thus affecting the efficiency of user’scontrol of the robot. In this paper, MOTORMAN SK6robot is served as the researchobject, and a kind of industrial robot programming language is designed and realized,making robot programming easy and efficient.In this paper, industrial robot programming language system as well as itsrequirements is researched, and on this basis. Based on it, a set of robot programminglanguage is designed, including the modeling of the environment, the define of instructionset and the target instruction, the design of the programming mode and program structure,etc. Software architecture of the robot language system is designed according to theoverall structure of the robot controller.The key technologies of industrial robot programming language interpreter arediscussed, in which twice scanning workflow is identified, and designed the softwarearchitecture of the interpretation system. The procedure of lexical analysis is studied andsyntax analysis method based on regular expression is designed. A kind of symbol tablethat is easy to insert and to manage is designed and program’s structure of semanticanalysis is given. The entire interpreter is practical and efficient, to meet the real-timerequirements of industrial robot control.The robot program editor interface and its software architecture are designed, andimplementation scheme of each module are put forward and realized. Finally,experimental tests have been carried out on the industrial robots interpreter and programeditor, and the experimental results show that industrial robot programming languagedesigned and developed in the paper meets the requirements of robot control. |
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