The Design And Implementation Of Modular Manipulator Programming Language Parser

Most of the industrial robots using a dedicated programming language.Robot programming language occupies a very important position in the entire robot control system,which directly affect the basic operation of industrial robots and offline programming,thus affecting the efficiency of the robot user.In this paper,6-DOF Modular Manipulator is served as the research object,and a kind of industrial robot programming language is designed and realized,and proposes a kind of design approach based on constrained natural language parser,making robot programming easy and efficient.This paper introduces the hardware and software of WUST-ARM modular manipulator platform in the subject.Then using D-H method to establish WUST-ARM modular manipulator coordinate system,and the forward kinematic model and the inverse kinematics solution is also presented.Secondly,the general method of trajectory planning is introduced,and the implement of trajectory planning in joint space and Cartesian space is elaborated respectively as well.Then instruction set and parser of WUST-ARM is formulated.With putting forward of a step-by-step processing method based on Chinese nature language,the language parser of modular manipulator based on restricted natural language is built up.Finally,experimental tests have been carried out on the industrial robots interpreter,the results indicated that the system performs well and could be able to fulfill the decided task.