Research And Implementation Of Model-Driven Robot Modeling Language

With the development of technology and economy,robots are more and more widely used in production and life,and the development of robot software systems has become a popular research direction.At present,the robot software system is still constructed by developers by writing the underlying code,and there are many problems such as robot software system platforms,robot middleware types,and mutual incompatibility,which increases the difficulty of robot software system development and robot system cross-platform transplantation.The model-driven method uses the system model as the main workpiece to drive the construction of the entire robot software system.This paper mainly studies the method of constructing robot software system,and applies the model-driven idea to the development of robot software system.This thesis designs a set of Model-Driven Robot Modeling Language(MDRML).By summarizing the characteristics of the robot system,the distributed node layer of the robot is abstracted according to the "top-down" modeling process.The distributed node layer is described by distributed node graphs and is used to describe the node structure of the entire robot system.The system node implementation language includes graphics language and text language.According to the different functions of different nodes,the system nodes are divided into three categories: CNode(complex node).The data flow diagram and state machine diagram are customized,which are mainly used to describe A system node containing complex processes and state transition processes;PNode(PLC node),which mainly extends the IEC 61131-3 international standard,including: adding C ++ mixed programming,adding network communication modules,etc.,mainly used to describe the industrial robot system Logic control;SNode(simple node),does not limit the implementation of this type of node,provides communication with other nodes,and is mainly used to implement complex algorithm calculations,dealing with the underlying equipment and other system nodes.Aiming at the designed modeling language,this paper designs and implements an integrated development environment(IDE)supporting the MDRML modeling language.The integrated development environment includes two parts,an editor and a model converter.The editor uses a Web-based form,using front and back end separation technology.The front end uses the Vue framework,the text editing uses the Ace editor,and the graphics editing uses the mxgraph graphics library.The back end adopts Spring boot architecture and Mongo DB database.The model converter uses the Dom4 j parser to parse the model file,and uses the Antrlr4 framework to perform lexical analysis and grammatical analysis on the model language,and to achieve semantic analysis and template filling in the model conversion process.Convert the modeling languages of different nodes to specific platform codes,and use CNode and PLC runtime system to run.Finally,by using the MDRML modeling language and integrated development environment designed in this paper,the Qrobot performance software system and industrial robot sorting software system are constructed.The case shows that the modeling language and supporting integrated development environment designed in this paper can be applied to a variety of robot systems,making robot software system expression easier and reducing the difficulty of robot software system development.