The L-IRL robot language (Lola - Industrial Robot Language) has been developed for this controller. It belongs to the class of higher-level programming languages. Structuring and modularity are provided for complex robotics programming operations. The language contains all general structures required in the robot programming, primarily work with data, phrases, control of program sequence, procedure and operation. As the robot is a part of some system, the L-ILR language foresees using the structures to achieve the connection with the environment via input and output signals, whereby analog, digital and binary information is transmitted. Also, the connection with the sensors has been achieved, and they can be added to the robotic system, depending on a concrete application's requirements.
The L-ILR language contains robot-specific structures, such as geometric types of data, geometry expressions and statements for assigning motion to a robot. Geometry type data and expressions allow for descriptions of robot and objects' position. The operation of translation and rotation of the coordinate system is one of these. Robot's positions can be specified by the motor coordinates and robots' axes in both absolute and relative coordinates. Robot motions can be point-to-point and along mathematically defined trajectories. Motion along a straight line and circle are mathematically defined trajectories possible to assign to a robot. Linking two non-collinear rectilinear motions is possible by approximate CP motion along the parabola. Approximate PTP motions connect several PTP, PTP and CP motions, and vice versa. It is possible to specify the trajectory, velocity, acceleration, change of robot end-effectors, trajectory and speed smoothing, and other characteristics.
As robot programmed trajectories must be most commonly adjusted under real-time conditions during testing, a connection of the programming language L-ILR was achieved with a system for robot on-line programming. A system for robot off-line programming, realized on the PC, allows for display of end-effectors planned trajectories and robot parts and diagrams of their velocities and accelerations. Language translator was implemented on the industrial robot system, so it is portable.
In the l-ILR language design the concept of the Pascal family programming languages design was applied as a starting point in terms of micro structure and general program structures. As the designed language is problem-oriented in robot programming, a necessary subset was chosen from a set of structures for structured programming of robot's tasks. In the choice of structures specific for robot programming, a structure for the connection with environment and other robots use was made, first of all, of a standard DIN 66312 - Industrial Robot Language (ILR), from 1992.
Last Updated on Thursday, 30 April 2009 14:34