“KUKA Robot Language”的意思、由来-开放百科全书

词条

KUKA Robot Language

释义

Features
See also
References
Sources
External links

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The KUKA Robot Language, also known as KRL, is a proprietary programming language similar to Pascal and used to control KUKA robots.{{sfn|Braumann|Brell-Cokcan|2011|p=243}}{{sfn|Mühe|Angerer|Hoffmann|Reif|2010|p=1}}

Features

Any KRL code consists of two different files with the same name: a permanent data file, with the extension .dat, and a movement command file, with the extension .src.{{sfn|Braumann|Brell-Cokcan|2011|p=244}}

KRL has four basic data types:{{sfn|Mühe|Angerer|Hoffmann|Reif|2010|p=2}}

Data type	Keyword	Meaning	Range of values
Integer	INT	Integer
Real	REAL	Floating-point number
Boolean	BOOL	Logic state	TRUE, FALSE
Character	CHAR	Character	ASCII character

User can also create custom data types using enumeration. Enumeration and basic data types can be used to create arrays and structures.

Motion commands support several types of structures as data formats:

FRAME {X 10, Y 0, Z 500, A 0, B 0, C 0}

POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21}

E3POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21, E1 0, E2 0, E3 0}

E6POS {X 10, Y 0, Z 500, A 0, B 0, C 0, S 6, T 21, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

AXIS {A1 0, A2 -90, A3 90, A4 0, A5 0, A6 0}

etc.

Robot joints are A1-A6.

External axis joints are E1-E6.

Frame value is sufficient to specify TCP location and orientation. But to also determine unique robot arm pose, additional info is required - S and T or

Status and Turn. They are collection of flags stored as integer.

References

Sources

{{cite book |url= http://www.robotsinarchitecture.org/wp-content/uploads/2012/04/ACADIA2011_robarch.pdf |title= Parametric Robot Control. Integrated CAD/CAM for architectural design |last1= Braumann |first1= Johannes |last2= Brell-Cokcan |first2= Sigrid |date= 2011 |website= www.robotsinarchitecture.org |publisher= |access-date= 14 May 2016 | ref = harv}}
{{cite arxiv |eprint=1009.5004 |title= On reverse-engineering the KUKA Robot Language |last1= Mühe |first1= Henrik |last2= Angerer |first2= Alwin |last3= Hoffmann |first3= Alwin |last4= Reif |first4= Wolfgang |date= 2010| ref = harv|class= cs.RO }}

External links

KRL Reference Guide. Release 4.1

2 : Robotics at KUKA|Robot programming languages

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Features

See also

References

Sources

External links