Editorial & Advisory Board - Acta Technica Corviniensis

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[16.] Maire, E., Schmidt, T.: Topologieoptimierung beschleunigt den Prozess, Konstruktion, Heft 6, 2003, p.: IW4‐IW6. [17.] Klein, M.: Formoptimierung kontinuerlicher Strukturen mit finiten Elementen höherer Ordnung, Düsseldorf. VDI Verlag, 2000. [18.] Timár, I.; Horváth, P.; Borbély, T.: Optimierung von profilierten Sandwichbalken, Stahlbau, 72(2003), Heft 2, p.:109‐113. [19.] Bendsoe, M. P.: Optimization of Structural Topology, Shape, and Material, Berlin, Springer‐Verlag, 1995. [20.] Timár, I.: Optimierung ebener Fachwerke mit mehreren Zielfuntionen. Forschung im Ingenieurwesen, 68(2004), p.: 121‐125. [21.] Modelling. (Mechanics for engineers, in Hungarian), Ed.: M. Csizmadia, B., Nándori, E. National Publisher, Budapest, 2003, p.: 431‐434. [22.] Timár, I.: Optimierung der Isolierstärke von Rohrleitungen. Forschung im Ingenieurwesen, 68(2003), p.: 96‐100. [23.] Timár, I., Crisan, N.: Optimisation of heat insulaton for spherical tanks. (in Hungarian), Gép, 53(2002), No. 11‐12, p.: 36‐40 ACTA TECHNICA CORVINIENSIS – Bulletin of Engineering ACTA TECHNICA CORVINIENSIS – BULLETIN of ENGINEERING ISSN: 2067‐3809 [CD‐Rom, online] copyright © UNIVERSITY POLITEHNICA TIMISOARA, FACULTY OF ENGINEERING HUNEDOARA, 5, REVOLUTIEI, 331128, HUNEDOARA, ROMANIA http://acta.fih.upt.ro 26 2012. Fascicule 2 [April–June]
1. Maja LUTOVAC, 2. Goran FERENC, 3. Vladimir KVRGIĆ, 4. Jelena VIDAKOVIĆ, 5. Zoran DIMIĆ ROBOT PROGRAMMING SYSTEM BASED ON L‐IRL PROGRAMMING LANGUAGE 1. LOLA INSTITUTE, KNEZA VIŠESLAVA 70A, BELGRADE, SERBIA ABSTRACT: Contemporary robot languages should be simple for usage, compact, portable and easily integrated into complex production systems. L‐IRL (Lola Industrial Robot Language) is a robot Programming Language that was initially Pascal‐based programming language. Further development is intended to add new characteristics such as portability and to become easy to learn and use. L‐IRL is programming language based on the procedural paradigm and it is basis of the offline part of the robot programming system. Developed Graphical User Interface of offline part provides user friendly usage. New language parser is formed as LR(1) type parser (parser that reads input from left to right) and written with tools such as Bison and Lex with the C++ programming language. The proposed solution gives logical and functional separation between different phases of parsing and compiling. L‐IRL is using XML as one of the main communication tools between different elements of the system. XML is used as meta language for system specification file and as object code of the compiler so that new software solution is more compact and portable. KEYWORDS: L‐IRL, robot language, XML INTRODUCTION The main aim is to create a programming language that is simple and easy to use and at the same time compact and portable. L‐IRL (Lola Industrial Robot Language) is programming language based on the procedural paradigm. L‐IRL is the basis of the offline part of the robot programming system. It is a Pascalbased programming language with syntax and some functional modifications. The further developments of L‐IRL were to obtain more compact, portable solution so that the programming language can be easily to learn and use. More details about existing and previous versions of L‐IRL can be found in [3, 6]. Aside from basic elements which exist in other programming languages L‐IRL contains specific structures and language constructs based on DIN 66312 standard. Special language constructs proposed by the standard are special geometric data types, geometric expressions and move statements which are used for robot movement control. Currently defined robot movements are PTP (Point to Point) movements and movements along mathematically defined paths (CP movements) as well as approximate PTP and CP motions. Currently present mathematically defined paths are line and the circle. By specifying parameters of the move statement it is possible to change path, speed, and acceleration, orientation of the end‐effectors and other characterizes of the movement. Language parser is developed using software tools Lex and Bison which generate lexical and syntax analyzer of the source code. In previous version, parser and compiler were developed using recursive descent approach. In this version of L‐ IRL parsing is based on LALR (Look Ahead Left to Right) algorithm which is directly incorporated into Bison. Using these software tools together with methodologies of the object oriented programming, efficient structural and logical refactoring of the source is achieved. RapidXML parser for C++ was used for parsing and generating XML code. Offline programming system is a development environment of the language compiler for robot programming in an L‐IRL programming language. GUI of the offline part of robot control system combines review of the robot system specifications, editor, whose input is a program written in a robot language L‐IRL as well as graphical representation and simulation of motions robot’s end‐effectors. For its main use, robot programming, handling many language’s constructs such as: dynamic arrays, parallel executions blocks and system variables definition using XML is simplified. Portability is enabled by developing interpreter and object code compiler based on XML. After generation, it is sent on to the real‐time parts of the system [2, 4]. Real‐time part of the system is control system based on Real‐Time Linux platform on which is set OROCOS open architecture software system, designed specifically for creating applications of this type. GRAPHICAL USER INTERFACE OF THE OFFLINE PART OF THE ROBOT PROGRAMMING SYSTEM In Figure 1 is given the appearance of a graphical user interface of the offline part of the robot programming system, through which the user enters a program, written in an L‐IRL Programming Language, and generates as output another program with the same meaning but written in a XML. © copyright FACULTY of ENGINEERING ‐ HUNEDOARA, ROMANIA 27
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