工业机器人编程语言的设计与实现-机械电子工程专业论文.docx

华中 科技 大学 华 中 科 技 大 学 硕 士 学 位 论 文 PAGE VI PAGE VI Abstract As the premise of effective control of robot, the robot programming language occupies a very important position in the entire robot CNC system，it directly affects the job and off- line programming of industrial robots, thus affecting the efficiency of users control of the robot. In this paper, MOTORMAN SK6 robot is served as the research object, and a kind of industrial robot programming language is designed and realized, making robot programming easy and efficient. In this paper, industrial robot programming language system as well as its requirements is researched, and on this basis. Based on it, a set of robot programming language is designed, including the modeling of the environment, the define of instruction set and the target instruction, the design of the programming mode and program structure, etc. Software architecture of the robot language system is designed according to the overall structure of the robot controller. The key technologies of industrial robot programming language interpreter are discussed, in which twice scanning workflow is identified, and designed the software architecture of the interpretation system. The procedure of lexical analysis is studied and syntax analysis method based on regular expression is designed. A kind of symbol table that is easy to insert and to manage is designed and programs structure of semantic analysis is given. The entire interpreter is practical and efficient, to meet the real-time requirements of industrial robot control. The robot program editor interface and its software architecture are designed, and implementation scheme of each module are put forward and realized. Finally, experimental tests have been carried out on the industrial robots interpreter and program editor, and the experimental results show that industrial robot programming language designed and developed in the paper meets the requirements of robot control. Keywords: industri