工业机器人语言解释器设计

Design of Language Interpreter for Industrial Robot

针对机器人语言解释器结构复杂、工作效率低下的问题,提出一种解释器模块化的方法,解释器分为错误检查、预编译、编译3个模块。解释器主要就是对示教文件进行解析,生成中间代码。在控制器系统中,运动规划器获取中间代码进行运动规划,进而控制机器人正确运动。解释器通过C++编程实现。最后,以六自由度工业机器人为研究对象,对解释器的相关功能进行验证,所生成的轨迹能够满足工业生产的需求。

Aiming at the problem of complex structure and low efficiency of robot language interpreter,a modularization method for interpreter was proposed.The interpreter was divided into three modules:error checking,pre-compiling and compiling.The interpreter main function was parsing the teaching files and generating the intermediate code.In the controller system,the motion planner obtained the intermediate code for motion planning,and then controlled the correct motion of the robot.The interpreter was realized by C++programming.Finally,taking the 6-DOF industrial robot as the research object,the functions of the interpreter were verified.The generated trajectory can meet the needs of industrial production.