With the development of the robot, the robot language has been developed and perfected robot language has become an important part of robot technology. In addition to relying on the hardware support of the robot, the function of the robot is quite a part of the robot language. Early robots used a fixed program or teaching method to control the movement of the robot due to its single function and simple movement. With the diversification of robotic operations and the complexity of the working environment, it has not been able to meet the requirements by means of fixed programs or teaching methods. Robotic work must be completed by robot language programming that adapts to changes in the work and environment. Let's take a look at the common robot programming language!
VAL language
First, VAL language and features
VAL language is a robot programming language introduced by Unimation Corporation of the United States in 1979. It is mainly used in PUMA and UNIMATION robots. It is a special action description language. The VAL language was developed on the basis of the BASIC language, so it is similar to the structure of the BASIC language. Based on VAL, Unimation introduced the VALII language.
The VAL language can be applied to both upper and lower computer controlled robot systems. The upper computer is LSI-11/23, the programming is carried out in the upper computer, the upper computer performs system management; the lower computer is 6503 microprocessor, which mainly controls the real-time motion of each joint. Programming can be mixed with VAL language and 6503 assembly language.
The VAL language command is simple, clear and easy to understand. It describes the robot's working actions and communication with the host computer. It is convenient for real-time functions. It can be programmed in both online and offline modes. It is suitable for a variety of computer-controlled robots. It can be quickly Calculate the continuous trajectory of complex motion in different coordinate systems, continuously generate the control signal of the robot, and modify the program and generate program online with the operator interactively; VAL language contains some sub-program libraries, by calling various sub-programs Can be quickly combined into complex operational controls; fast data transfer with external memory to save programs and data.
The VAL language system consists of three parts: text editing, system commands, and programming language.
In the text editing state, the text program can be input through the keyboard, or the program can be input in the teaching mode through the teaching box. Programs can be modified, edited, and generated during the input process, and finally saved to memory. It is also possible to call an existing program in this state.
System commands include location definitions, program and data lists, program and data storage, system state settings and controls, system switch control, system diagnostics, and modifications.
The programming language converts a program statement into execution.
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