【作者】 徐成；

【导师】 郭顺生；

【作者基本信息】 武汉理工大学 ， 工业工程， 2010， 硕士

【摘要】 随着计算机、微电子、自动控制、网络等技术的快速发展,机器人技术也得到了飞速发展。近年来,随着人类的活动领域不断扩大,机器人应用也从制造领域向非制造领域发展。然而,由于机器人涉及的知识范围很广,编程开发门槛高,使得机器人的编程开发效率十分低下,难以普及。针对这一现象,致力于让机器人编程开发变得简单化的尝试也越来越多,其中基于图形化编程的机器人开发平台逐渐成为研究热点。在这样的研究背景下,本文开发出了一套基于事件驱动编程思想的机器人图形化编程平台—]R.GPS (Robotell Graphic Programming System),并针对该编程平台中的一些关键问题和应用技术进行了研究,其主要内容如下：(1)针对目前机器人通信／控制接口比较繁多的问题,设计了一套基于CAN通信协议的上层协议--EzCAN协议,该协议简单强大,包括信号采集、电机控制、系统配置等部分,符合大多数机器人应用环境,且方便扩展。(2)提出基于事件驱动的机器人图形化编程思想,并给出了图形化编程中的语句、表达式等编程单元的实现方案。利用图形的特征区分不同的编程单元,同时采用积木式的编程方法,大大降低了开发人员在编程过程中的出错率,节省了机器人系统的开发周期。(3)为了更方便的实现跨硬件平台编程,采用了类似于JAVA虚拟机的思想,定义了一套专用的机器码,并实现了基于32位嵌入式开发平台的虚拟机--RTVM. RTVM通过对机器码的解释运行实现机器人的数据采集与行为控制。(4)采用软件工程的思想设计整个编程系统。通过分层架构的方式,将RGPS分解为图形化编程界面、编译器、汇编器、虚拟机等不同模块,并利用各个模块间的接口进行连接,增加了系统的可靠性和可扩展性。实际应用表明,RGPS不仅实现了功能,且具有良好的适应性,可大大提高机器人应用开发的效率。更多还原

【Abstract】 With the rapid development of computer, microelectronics, automatic control, and network technology, robotics technology has been rapid development. In recent years, with the expanding field of human activity, robot applications have moved from manufacturing to the non-manufacturing sectors. However, as a wide range of knowledge that the robots are involved in, programming development still has high threshold and low efficiency, and difficult to spread. In response to this phenomenon, the attempts to ease the programming development are more than ever before. The robot-based graphical programming development platform becomes a research hotspot.In the context of such a research, a robot programming graphical programming platform-RGPS, which ideas based on event-driven, has been developed. And the key issues and application of this programming platform has also been researched. The main contents are as follows:(1) For there is a problem of diversity of the current robot communication / control interface, we designed a communication protocol-EzCAN protocol, which based on CAN communication protocol, is a simple and powerful protocol. It includes signal acquisition, motor control and system configuration sections, which in line with most of the robot application environment. And it is easy to extend too.(2) An event-driven based graphical programming idea on robot programming is given, as well as the implementations of graphical statement, expressions and other programming unit. Distinguish the characteristics of using graphical programming unit, while using modular programming method could greatly reducing the developer’s risk of errors in the programming process, and saving the robot system development cycle.(3) In order to facilitate the realization of cross-platform programming on different hardware, the JAVA-like virtual machine idea is used. We have defined a set of specific machine codes. And a virtual machine-RTVM, which based on the 32-bit embedded development platform, has also been developed. RTVM provides the robot data acquisition and controlling through the interpretation of RTVM machine code.(4) The software engineering thought has been used on the designment of the programming system. By the way of layered structure, RGPS is decomposed into different modules, including graphical programming interface, compiler, assembler, virtual machine. And we use the interfaces between the modules to connect each other. It also increases the system reliability and scalability.As the application showing, RGPS not only achieves the function, but also has good adaptability. And the efficiency of the application development of robot could be greatly enhanced.更多还原