工业机器人语言及其解释器的研究与实现

The Study and Implement of Industrial Robot Language and Interpreter

为解决工业机器人解释器结构复杂,解释效率低的问题,以6自由度机器人为研究对象,提出了一种解释器分层架构的实现方法的和融合链表型的语法树结构。解释器分为两层,上层为前处理模块,工作在示教器,主要对机器人源程序进行词法分析、语法分析、语义分析和生成中间数据结构。下层为后处理模块,工作在控制器端,主要进行中间数据结构解析,调用控制函数。将链表结构融合进语法树,以优化语法树的结构。实验结果表明,设计的解释器能够正确地解释机器人源程序,并满足控制需求。

In order to solve the problems of complex structure and low efficiency of interpreter for industrial robot, a method to build a robot interpreter based on hierarchical architecture and a syntax tree merging linked-list are risen, by researching six degree of freedom industrial robot. The interpreter is divided into two layers. The upper layer,working on the teaching-box, is the preprocessing module,which deals with the robot codes on lexical analysis, syntax analysis, semantic analysis and generation of intermediate data.On the other hand, the lower layer, working on the controller, is the post-processing module, which mainly analyzes the intermediate data and calls the control function. And the linked-list is used to optimize the Syntax tree structure. Finally the experimental results show that the interpreter can handle the robot codes correctly and meet the control requirements of robots.