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分类号学号M201070466学校代码10487密级硕士学位论文工业机器人编程语言的设计与实现学位申请人:郭显金学科专业:机械电子工程指导教师:叶伯生副教授答辩日期:2013年1月15日华中科技大学硕士学位论文IIAThesisSubmittedinPartialFulfillmentoftheRequirementsfortheDegreeofMasterofEngineeringThedesignandimplementationofindustrialrobotprogramminglanguageCandidate:GuoXianjinMajor:Mechanical&ElectronicEngineeringSupervisor:AssociateProf.YeBoshengHuazhongUniversityofScienceandTechnologyWuhan,Hubei430074,P.R.ChinaJanuary,2013华中科技大学硕士学位论文III独创性声明本人声明所呈交的学位论文是我个人在导师指导下进行的研究工作及取得的研究成果。尽我所知,除文中已经标明引用的内容外,本论文不包含任何其他个人或集体已经发表或撰写过的研究成果。对本文的研究做出贡献的个人和集体,均已在文中以明确方式标明。本人完全意识到本声明的法律结果由本人承担。学位论文作者签名:日期:年月日学位论文版权使用授权书本学位论文作者完全了解学校有关保留、使用学位论文的规定,即:学校有权保留并向国家有关部门或机构送交论文的复印件和电子版,允许论文被查阅和借阅。本人授权华中科技大学可以将本学位论文的全部或部分内容编入有关数据库进行检索,可以采用影印、缩印或扫描等复制手段保存和汇编本学位论文。本论文属于(请在以上方框内打“√”)学位论文作者签名:指导教师签名:日期:年月日日期:年月日保密□,在年解密后适用本授权书。不保密□。华中科技大学硕士学位论文IV摘要作为对机器人进行有效控制和利用的前提,机器人编程语言在整个机器人数控系统中占有十分重要的地位,它直接影响着工业机器人的基本作业和离线编程等,从而影响到用户对机器人的控制效率。本文以MOTORMANSK6机器人为研究对象,设计和实现了一套工业机器人编程语言,使对机器人的编程变得简单而高效。本文研究了工业机器人编程语言系统及其需求,在此基础上设计了一套机器人编程语言,包括环境的建模、指令集的定义、编程方式的设计、程序结构的定义和目标指令的设计等,并且根据机器人控制器的整体结构,设计了机器人语言系统的软件结构。对工业机器人编程语言解释器的关键技术进行了研究,确定了两遍扫描的工作流程,从而确定了解释系统的软件结构。研究了词法分析流程,设计了基于正则表达式的语法分析方法;设计了易于进行插入和管理的符号表,给出了语义分析程序的结构。整个解释器实用而高效,满足工业机器人控制实时性的要求。设计了机器人程序编辑器的菜单结构、界面、软件结构及各个模块的实现方案,并编程实现。最后,对工业机器人语言解释器和程序编辑器进行了测试,实验结果表明,本文设计和研发的工业机器人编程语言达到了机器人控制要求。关键词:工业机器人,编程语言,解释器,编辑器,正则表达式华中科技大学硕士学位论文VAbstractAsthepremiseofeffectivecontrolofrobot,therobotprogramminglanguageoccupiesaveryimportantpositionintheentirerobotCNCsystem,itdirectlyaffectsthejobandoff-lineprogrammingofindustrialrobots,thusaffectingtheefficiencyofuser'scontroloftherobot.Inthispaper,MOTORMANSK6robotisservedastheresearchobject,andakindofindustrialrobotprogramminglanguageisdesignedandrealized,makingrobotprogrammingeasyandefficient.Inthispaper,industrialrobotprogramminglanguagesystemaswellasitsrequirementsisresearched,andonthisbasis.Basedonit,asetofrobotprogramminglanguageisdesigned,includingthemodelingoftheenvironment,thedefineofinstructionsetandthetargetinstruction,thedesignoftheprogrammingmodeandprogramstructure,etc.Softwarearchitectureoftherobotlanguagesystemisdesignedaccordingtotheoverallstructureoftherobotcontroller.Thekeytechnologiesofindustrialrobotprogramminglanguageinterpreterarediscussed,inwhichtwicescanningworkflowisidentified,anddesignedthesoftwarearchitectureoftheinterpretationsystem.Theprocedureoflexicalanalysisisstudiedandsyntaxanalysismethodbasedonregularexpressionisdesigned.Akindofsymboltablethatiseasytoinsertandtomanageisdesignedandprogram'sstructureofsemanticanalysisisgiven.Theentireinterpreterispracticalandefficient,tomeetthereal-timerequirementsofindustrialrobotcontrol.Therobotprogrameditorinterfaceanditssoftwarearchitecturearedesigned,andimplementationschemeofeachmoduleareputforwardandrealized.Finally,experimentaltestshavebeencarriedoutontheindustrialrobotsinterpreterandprogrameditor,andtheexperimentalresultsshowthatindustrialrobotprogramminglanguagedesignedanddevelopedinthepapermeetstherequirementsofrobotcontrol.Keywords:industrialrobots,programminglanguage,interpreter,editor,regularexpression华中科技大学硕士学位论文VI目录摘要IVAbstractV目录VI1绪论·································································································11.1课题来源····························································································11.2课题的研究背景和意义·····································································11.3国内外研究现状和发展趋势······························································21.4本文研究的主要内容·········································································42工业机器人编程语言研究与设计·····················································52.1工业机器人语言系统概述··································································52.2机器人语言系统需求分析··································································62.3机器人语言设计·················································································72.4编程方式设计··················································································152.5机器人语言系统设计·······································································172.6本章小结··························································································203工业机器人语言解释器的设计和实现···········································213.1解释器软件构架设计·······································································213.2词法分析··························································································243.3语法分析··························································································273.4语义分析及目标代码生成································································29华中科技大学硕士学位论文VII3.5本章小结··························································································364工业机器人程序编辑器的实现······················································384.1程序编辑器需求分析及总体设计·····················································384.2程序编辑器实现方案·······································································404.3程序编辑器的软件结构及各模块的实现·········································414.4本章小结···
本文标题:工业机器人编程语言的设计与实现
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