Research On Robot Control Software System Based On Quantum Framework

Nowadays,with the requirements of automation increasing,industrial automation's demands on industry robot also get higher.In order to conquer the limit of industry robot body due to the fickle and complex environment,as well as to solve the problems occurred in the traditional industry robot software system,such as the long design cycle,high cost of development,low flexibility and bad maintainability and upgradeability of later development,this paper proposes a method which adopts event-driven programming technology and layered architecture to build open robot software system.In this paper,the robot control software system is designed based on quantum framework.Quantum frame is a lightweight event-driven programming framework combining state machine technology with object-oriented idea,in which theoretical models of active object computing model,quantum frame event processor and quantum frame kernel provide theoretical application basis for this system design.The robot control software system is built with layered architecture,which realizes the effective division and management of each resource.In the implementation of this architecture,the bottom layer is transparent to the upper layer.And the middle layer encapsulates the service interface of real-time operating system and component,hides the difference of software/hardware,and provides the platform-independent running environment for the application layer.The application layer adopts the active object computing model,in which the graphical design can effectively improve the development efficiency and software quality of the system application.The robot compiling system is the key core of the robot control software.This paper designs the robot programming instruction language and its compiling system,and studies the working principle and the realization process of the front end and the back end of the robot language compiler.The front end includes lexical analysis,syntax analysis and semantic analysis,intermediate code generation and the back end includes the robot execution instruction generation.Finally,the robot control software system is debugged,and the system is tested and validated by the method of white box test and black box test.