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The robot programming language interpreter written in the Logo language

Foit K.

Journal of Achievements in Materials and Manufacturing Engineering

2011

Vol. 45, nr 2

194--203

Purpose: of this paper is to elaborate a simple system used to visualize the trajectory of the robot manipulator, using the interpreter written in the Logo programming language. The interpreter should be able to run on the older PC class hardware with limited RAM and CPU computing power. Design/methodology/approach: Compared to the other programming languages, the Logo is a convenient tool for use in the field of robotics, due to simple syntax, derived from LISP, direct support for mapping the manipulator path on the computer graphics device (turtle graphics), and because the original application of turtle graphics was an interface for mobile robot control. Findings: As the subject of further consideration, the Mitsubishi RV-M1 robot has been selected. Its programming language, called Movemaster Commands, is very simply and in some aspects very similar to regular BASIC programming language. This makes it useful for processing by the interpreter due to imperative programming model. Research limitations/implications: The current, experimental version of the interpreter lacks some functions (for example workspace limits checking). Another disadvantage is that the application is dedicated to the particular type of robot. Some problems may also occur during the graphical user interface design, because this part is not well implemented in the Logo. Practical implications: The result of the experiment is the computer application. The program is written in the FMSLogo programming language. The developed application shares the interface with the FMSLogo. This is mainly due the fact, that the Logo is the interpreted language. Originality/value: The program allows performing a simple check of the trajectory, and complements the typical program editor. There is no need to use dedicated, high-price simulators.