Design and implementation of an efficient program interpreter for industrial robot

Abstract

Robot program interpreter is an important tool for robot to realize real-time control and fast feedback. In order to simplify the process of robot programming and improve the interpretation efficiency of robot program, an easy-to-use and efficient industrial robot program interpreter is designed and implemented in this paper. The interpreter divides the robot program into two parts: variable definition and instruction call. The process of interpretation includes lexical analysis, syntactic analysis, semantic analysis and instruction interpretation modules. Using flex and bison tools to assist in the generation of lexical and syntactic analysis programs, this paper proposes child-sibling notation (CSN) to construct a syntax tree. In semantic analysis, the red-black tree structure of the map container is used to create a symbol table and record variable information. By the way of presetting type checking codes, errors in the program can be reported and handled. Finally, the interpreter traverses the syntax tree with depth-first algorithm, and calls the corresponding control function while interpreting the instruction sentence to execute the motion of robot. The experimental results show that the designed interpreter has high efficiency and stability in interpreting the robot program and meets the operational requirements of industrial robots.