嵌入式系统硬件组成

Ch.8 Robot Programming
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Ch.8 Robot Programming
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。
(bS) tate B
(Block1-face1 AGAINST Table) (Block1-face3 AGAINST Block2-face1) (Block2-face3 AGAINST Block3-face1)
8.1 Requirements and Types of Robot Programming Languages
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8.1.1 Requirements to Robot Programming
Motion specification
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： move goal1 moves goal2 move via1 move goal3
用AL语言（控制机械手garm）： move garm to goal1; move garm to goal2 linearly; move garm to goal3 via via1;
8.1 Requirements and Types of Robot Programming Languages
机器人学基础
第八章 机器人编程
Fundamentals of Robotics
Ch.8 Robot Programming
中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn
2010
Fundamentals of Robotics
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Review
General Considerations in Trajectory Planning Interpolated Calculation of Joint Trajectories Planning of Cartesian Path Trajectories Real Time Generation of Planning Trajectories
Task specification
{face 3}
{Block 2}
{Block 3}
{face 1}
பைடு நூலகம்
{Block 1} {Table}
{Block 3}
{Table}
{Block 2} {Block 1}
(aS)tate A
(Block1-face1 AGAINST Table) (Block1-face3 AGAINST Block2-face1) (Block3-face1 AGAINST Table)
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8.1.1 Requirements to Robot Programming
Flow of execution
➢ 允许用户执行测试、分支、循环、调用子程序以及中断等流程。
Programming environment
➢ 包含断点调试功能，以及典型的编程支持（如文本编辑、调试程 序和文件系统等）。
Ch.8 Robot Programming
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Contents
Requirements and Language Types to Robot Programming
Structure and Basic Functions of Robot Language System Commonly-Used Language for Robot Programming Off-Line Programming of Robots Summary
8.1.1 Requirements to Robot Programming 对机器人编程的要求
World modeling 能够建立世界模型
Task specification 能够描述机器人的作业
Motion specification 能够描述机器人的运动
Flow of execution 允许用户规定执行流程
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.8 Robot Programming
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8.1 Requirements to Robot Programming & Type of Languages 机器人编程要求和语言类型
Fundamentals of Robotics
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Questions
According to level of task description, how many categories can robot programming languages be split into? List out several commonly used robot programming languages. Comparison between off-line programming and teach by showing.
Programming environment 要有良好的编程环境
Sensor integration 需要人机接口和综合传感信号
8.1 Requirements and Types of Robot Programming Languages
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8.1.1 Requirements to Robot Programming
World modeling
z {Fixture}
{Pin-grasp} z
z
y
{Feeder}
y xx y
x
z {Table}
x
y
8.1 Requirements and Types of Robot Programming Languages
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8.1.1 Requirements to Robot Programming
Sensor integration
➢ 在编程和作业过程中，应便于人与机器人之间进行信息交换。 ➢ 能与传感器进行信息交互，以此来控制程序的流程。