使用状态机实现的机器人控制系统

Using a State Machine Implementation of Robot Control System

现阶段教学中针对机器人系统编写大部分采用汇编语言的方式。汇编语言是一种过程化的语言,受其表现能力的限制,编写复杂的控制系统非常困难。实际编写机器人控制系统大部分严格基于时间的固定流程控制。实现复杂的基于外部因素的反应式控制的难度很高。随着计算机语言的发展,脚本语言在实际应用中也越来越广泛,尤其是lua语言,其处理速度已经与汇编语言或者C语言已经没有明显的差距.因为lua语言属于高级语言,其表现能力要大大强于汇编语言,编写复杂的逻辑要比使用汇编语言简单得多。本文在《脚本编程技术在机器人控制教学中的应用》(办公自动化2014年3月)的基础上,研究使用lua语言编写逻辑清晰的有限状态机来实现复杂的机器人控制系统。

At this stage to write most of the robot system in teaching with the method of assembly language. Assembly language is a process language,limited by its performance ability,Write the complex control system is very difficult. Actually writing robot control system is most strict fixed flow control based on time. The implementation of complex reactive control based on external factors are difficult. Along with the development of the computer language,scripting language is becoming more and more widely in the practical application,especially the lua language,its processing speed with assembly language and C language has no obvious difference. Because the lua language belongs to a high-level language,its performance ability significantly stronger than assembly language,writing complex logic is much simpler than the use of assembly language.