Robot programming system based on L‐IRL programming language

Abstract

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.