机器人离线编程语言HRL及其开发环境

Robot Off-line Programming Language HRL and its Developing Environment

介绍机器人离线编程语言HRL及其开发环境。作为机器人离线编程与仿真系统HOLPSS的主要子系统，HRL实现了对一般4～6自由度机器人的离线编程，形成了基于微机的通用机器人语言。HRL语言系统结合HOLPSS的图形仿真系统，构成完善的离线编程与仿真环境，避免了文本编程与图形编程的弊端。论述HRL语言的数据类型及其操作、控制结构、轨迹规划、示教集成和通用性问题，并给出对PUMA560机器人的编程及结果仿真，仿真结果表明HRL语言系统是机器人程序快速生成的有力工具。

A new robot off-line programminglanguage HRL and its developing environment isintroduced. As the main sub-system of the robotoff-line programming and simulation systemHOLPSS, the HRL system, a PC-based generalrobot language system,has implemented the off-line programming of the robots of 4~ 6 DOF.Combined with the graphical simulation sub-sys-tem of HOLPSS,HRL system has advoinced thedisadvantages of textual programming andgraphical programming. This paper discusses themain features of HRL system, such as, the datatypes and their operations, control structures,trajectory planning, teach-in procedure and gen-erality. An example of off-line programming andsimulation for PUMA560 robot is presented.