Design And Implementation Of Graphical Programming System For Industrial Robot

Today increasingly wide applications of robots in various areas and the growing complexity of operation tasks means that the programming method should be easier to use and more advanced.However,current programming methods for most industrial robots are text-based with great difficulties and long time consuming in actual application development.In contrast,graphical programming method is focused by its intuitive program structure,easy understanding,simple interaction,and syntax constraints.Therefore,for the practical application scenarios of industrial robots,a graphical programming system is designed.The relevant key technologies are studied.Considering the complexity of existing graphical program compilation methods for industrial robot,the data flow is firstly analyzed for the interpretation process of graphical program from operation task to object code.Having determined the application requirement,the general scheme for robot graphical programming system is designed,consisting of three major parts: operation module library,visual program editor and XML-based interpreter.In the syntax structure of the robot language,common points of the actual operations of the robot in different syntactic units are analyzed and classified,based on graphical behaviors including module parameter filling,module connection.And the robot graphical program is defined.Picture layout grammar is used to design the graphic model of the core operation module,mainly involving instruction attribute,view attribute,parameter writing operation and module organization behavior.The robot language is then parameterized and abstracted according to the instruction attribute.By mapping XML elements and syntactic units of the robot language with the structural feature of XML,the XML middle file representing the graphical program is designed,as well as its loader and renderer.The potential syntax problems of the robot program are then analyzed,except for the syntax correctness guaranteed by syntax constraints of the editor.According to inspection specifications defined before,depth first search algorithm is used to design the graphical task checking procedure.Finally,the automatic code generation is designed and implemented.Using data structures such as hash table,program data memory models are designed to achieve efficient program data access.Facing the real-time constraints of the interpreter,an XML-based direct compilation method is proposed to reduce the resource overhead.A functional module is then designed to implement program execution and control functions.On the six-axis industrial robot platform,by analyzing the object code generated in executing graphical programs consisting of common operation modules,the correctness of the operation module function and its interpretation are verified.The time consuming test result shows that the time efficiency of the XML-based interpreter is 6% higher than the original one,meeting real-time requirement.Finally,the actual application ability of the graphical programming system is verified by the robot writing experiment and multi-object transportation experiment.