Research And Implementation Of Interpreter For HS-? Robot CNC System

The robot interpreter is an important part of the robot control system.Its task is to convert the robot programming instruction statement into the data structure needed by the control system to realize the operation control of the robot,making the robot interpreter play an important role in the robot control system.At present,the programming language defined by each robot manufacturer is different.The problems that the interpreter is difficult to be transplanted in different application platforms and its poor compatibility come much stronger.In view of the above problems,this paper presents a modular and visualized interpreter design method by using the IEC61131-3 standard to develop a robot interpreter function library.A simulation test is carried out to verify the practicability of the robot interpreter function library.Firstly,the paper discusses the language system of HS-? industrial robots,and designs a set of flexible and intuitive robot language,including programming instruction set and target instruction set according to its basic function requirements,which can easily describe the various actions that the robot needs to complete.Secondly,the structure model of the HS-? robot interpreter is determined,and the stages of the interpreter are studied and realized.The regular expression matching method is used to realize the scanning and legitimacy of the source code.A symbol table is designed to realize the robot programming instruction statement semantics processing and generating the target instruction sequence.And according to various types of robot programming instructions,the corresponding semantic processing methods are given.Then the IEC61131-3 standard is used to design and implement the industrial robot interpreter function library.The function block diagram(FBD)and the structured text(ST)are used to complete the development of the modules.The instruction interpreting function is divided and enclosed in the module.Connecting with data cable,the modules form a robot interpreter library,which becomes a reconfigurable open and modular system,so that the programming efficiency,quality and readability can be improved.Finally functional test is performed on the interpreter function library and the resulting motion control information is in line with expectations.Then simulation test is conducted,proving that the robot can use those data to control the movement of the robot in accordance with the desired trajectory,which verifies the practicability of the robot interpreter function library,while explores a feasible method to design an open,modular,standardized robot control system software by using IEC61131-3 standard programming language.