| 混合式弧焊机器人编程语言 |
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| 引用本文： | 张连新,高洪明,张广军,吴林. 混合式弧焊机器人编程语言[J]. 焊接学报, 2006, 27(7): 105-108,112 |
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| 作者姓名： | 张连新 高洪明 张广军 吴林 |
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| 作者单位： | 1. 哈尔滨工业大学,现代焊接生产技术国家重点实验室,哈尔滨,150001
2. 长春客车厂工业公司,铁路客车配件厂,长春,130113 |
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| 摘 要： | 在对机器人语言的特点和系统构成分析的基础上,开发了混合式弧焊机器人语言.该语言除了具有一般程序设计语言所必需的顺序、分支、循环和子程序以外,还具有弧焊机器人所必需的机器人运动控制和焊接等相关功能.为了实现这些功能,设计了HAWRL的数据表示方法、指令集和变量,提出了数据和程序分离的程序结构形式.从而使得HAWRL兼有机器人级机器人语言简单易用以及任务级机器人语言编程效率高的优点.试验表明,应用HAWRL可以高效、快速、容易地生成机器人程序并被正确地执行;同时,它也提供了机器人和外部设备的统一接口.
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| 关 键 词： | 机器人语言 机器人编程 弧焊机器人 |
| 文章编号： | 0253-360X（2006）07-105-05 |
| 收稿时间： | 2005-05-20 |
| 修稿时间： | 2005-05-20 |
Hybrid programming language for arc welding robot |
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| ZHANG Lian-xin,GAO Hong-ming,ZHANG Guang-jun and WU Lin. Hybrid programming language for arc welding robot[J]. Transactions of The China Welding Institution, 2006, 27(7): 105-108,112 |
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| Authors: | ZHANG Lian-xin GAO Hong-ming ZHANG Guang-jun WU Lin |
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| Affiliation: | State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China,State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China,State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China and State Key Laboratory of Advanced Welding Production Technology, Harbin Institute of Technology, Harbin 150001, China |
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| Abstract: | On the base of analysing characteristics and components of robot languages,hybrid arc welding robot language(HAWRL) was presented.Besides the sequential,conditional,iterative and subroutine functions that some normal computer programming languages needed,HAWRL has some functions about motion control and welding of robot,which is neccessary for arc welding robot.In order to implement these functions,method of expressing data,commands set and variables are designed and a new program structure,which separates data from program, was presented.And then,HAWRL have the advantages of the simpleness and convenience like the robot-level language and high efficiency like the task-level languages.Result show that the robot programs can be produced efficiently,quickly and easily by HAWRL and can be executed correctly.At the same time,it provides the general interface for robot to connect other external devices. |
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| Keywords: | robot language robot programming arc welding robot |
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