Design And Implement Of General Graphical Programming Software For Industrial Robot

Research of this paper is part of the general industrial robot control software platform, the purpose of this graphical programming system is to realize the general graphical programming module of the whole platform.The graphical programming software system mainly addresses the conversion of industrial robot general manipulations to the graphical task consisted of symbols and connections, and finally changes the graphical task to the intermediate file which can be explained by hardware equipment after series communication。Aiming at the difficulty of operation and lack of commonality in text-based programming way, a structure design of graphical programming software for industrial robot control software platform has been proposed, including the integrated design ideas and concrete implementation plan. By designing the data structure for robot manipulations and the self-structured Editor which can track and record users all operations automatically, it is easy for users to program a new manipulation task by dragging a sequence of symbols onto the Editor and connect them in any way as it needed.The corresponding relationship between the icon and the node in intermediate file has been defined, so that XML document can present the graphical task well. The main works in the thesis completed as follows:At first, a extensive research about control software platform and graphical programming for industrial robot has been done. After that, the research content and research direction became more clear. Secondly, by the analysis of the functional requirement, the overall architecture of industrial control software platform has been designed, especially, the role of graphical programming system is detailed introduced.And Thirdly, key related techniques has been introduced such as graphical editing framework GEF, XML technology and design patterns, etc. After that, the detailed structure design and implementation scheme is presented. Throughout the design process, the idea of hierarchical and modular has been always laid emphasis on. The use of communication interface between the modules to modules, increases the generality and portability of the system. Practical results show that the system not only realizes the graphical programming function, but also reduces operating difficulty to allow Easier operation. The use of general intermediate file improves the portability of the software.