机器人学基础机器人编程蔡自兴课件.pptVIP

机器人学基础第八章机器人编程Ch.8RobotProgramming中南大学蔡自兴，谢斌zxcai,2010FundamentalsofRobotics1

Review?GeneralConsiderationsinTrajectoryPlanning?InterpolatedCalculationofJointTrajectories?PlanningofCartesianPathTrajectories?RealTimeGenerationofPlanningTrajectoriesFundamentalsofRobotics2

Questions?Accordingtoleveloftaskdescription,howmanycategoriescanrobotprogramminglanguagesbesplitinto???Listoutseveralcommonlyusedrobotprogramminglanguages.Comparisonbetweenoff-lineprogrammingandteachbyshowing.Ch.8RobotProgramming3

Contents?RequirementsandLanguageTypestoRobotProgramming?StructureandBasicFunctionsofRobotLanguageSystem?Commonly-UsedLanguageforRobotProgramming?Off-LineProgrammingofRobots?SummaryCh.8RobotProgramming4

Ch.8RobotProgramming机器人编程语言是一种程序描述语言，它能十分简洁地描述工作环境和机器人的动作，能把复杂的操作内容通过尽可能简单的程序来实现。?机器人编程语言也和一般的程序语言一样，应当具有结构简明、概念统一、容易扩展等特点。??由于机器人的控制装置和作业要求多种多样，国内外尚未制订统一的机器人控制代码标准，所以编程语言也是多种多样的。Ch.8RobotProgramming5

8.1RequirementstoRobotProgrammingTypeofLanguages机器人编程要求和语言类型8.1.1RequirementstoRobotProgramming对机器人编程的要求Worldmodeling能够建立世界模型?Taskspecification能够描述机器人的作业?Motionspecification能够描述机器人的运动?Flowofexecution允许用户规定执行流程?Programmingenvironment要有良好的编程环境?Sensorintegration需要人机接口和综合传感信号?8.1RequirementsandTypesofRobotProgrammingLanguages6

8.1.1RequirementstoRobotProgramming?Worldmodeling8.1RequirementsandTypesofRobotProgrammingLanguages7

8.1.1RequirementstoRobotProgramming?Taskspecification(b)(a)8.1RequirementsandTypesofRobotProgrammingLanguages8

8.1.1RequirementstoRobotProgramming?Motionspecification例.机械手运动如下：(1)移至位置“goal1”；(2)再以直线移至位置“goal2”；(3)不停顿地移动经过“via1”，到达停止位置“goal3”。用VAL-II语言：movegoal1movesgoal2movevia1用AL语言（控制机械手garm）：movegarmtogoal1;movegarmtogoal2linearly;movegarmtogoal3viavia1;movegoal38.1RequirementsandTypesofRobotProgrammingLanguages9

8.1.1RequirementstoRobotProgramming??Flowofexecution允许用户执行测试、分支、循环、调用子