"If you ask "What is the best programming language for robots?" Computer vision programmers will give different answers than cognitive robots. Everyone disagrees on what is the "best programming language", the language is learned first, even if this is the most realistic answer, because it depends on the type of application you want to develop and the system you are using.
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Ten popular programming languages ​​for robots
There are more than 1500 programming languages ​​in the world, which are currently the ten most popular programming languages ​​in robotics. Each language has different advantages for robots:
10.BASIC/Pascal
BASIC and Pascal, they are the basis of several industrial robot languages, as described below. BASIC is designed for beginners (it stands for general symbolic instruction codes for beginners), which makes it a very simple language to start with. Pascal aims to encourage good programming habits, and introduces constructs such as pointers, it is a good "stepping stone" to make a more complex language from the regular version. These two languages ​​are a bit outdated these days, which is conducive to "daily use". However, if you want to do a lot of low-level coding, or want to be familiar with other industrial robot languages, you can learn them.
9. Industrial robot language
Almost every robot manufacturer has developed its own proprietary robot programming language. You can become familiar with a few of them by learning Pascal. However, every time you start using a new robot, you still need to learn a new language.
ABB owns the RAPID programming language. Kuka has KRL (Kuka Robot Language). Comau uses PDL2, Yaskawa uses INFORM and Kawasaki uses AS. Then, Fanuc robots use Karel, Stäubli robots use VAL3 and Universal Robots use URScript.
In recent years, programming options like ROS Industrial have begun to provide programmers with more standardized options. However, if you are a technician, you are more likely to use the manufacturer’s language.
8.LISP
LISP is the second oldest programming language in the world (FORTRAN is older, but only one year old). It is not as widely used as many other programming languages ​​on this list; however, it is still very important in artificial intelligence programming. Part of ROS is written in LISP, although you don't need to know to use ROS.
7. Hardware Description Language (HDL)
The hardware description language is basically a programming method for describing electronic devices. These languages ​​are quite familiar to some robotics experts because they are used to program field programmable gate arrays (FPGAs). FPGAs allow you to develop electronic hardware without actually producing silicon chips, which makes them faster and easier development options.
If you are not an electronic prototype, you may never use HDL. Even so, it is important to know that they exist because they are completely different from other programming languages. On the one hand, all operations are executed in parallel, rather than in accordance with a processor-based language.
6. Assembly
The conference allows you to program in "level 1 and level 0", which is the lowest level (more or less) of programming. Recently, most low-level electronic devices need to be programmed. With the rise of Arduino and other microcontrollers, you It is now possible to easily program at this level using C/C++, which means that most robots may not be so necessary.
5.MATLAB
MATLAB and its open source relatives, such as Octave, are very popular among robotics engineers who analyze data and develop control systems. There is also a very popular robot toolbox for MATLAB. I know people who use MATLAB to develop entire robotic systems. If you want to analyze data, generate advanced graphics, or implement a control system, you may need to learn MATLAB.
4. C#/.NET
C# is a proprietary programming language provided by Microsoft. I include C#/.NET here, mainly because of Microsoft Robotics Developer Studio which uses it as the main language. If you want to use this system, you may want to use C#. However, learning C/C++ first may be a good choice for long-term development of coding skills.
3.Java
Some computer science degrees use Java teaching as their first programming language. Java "hides" the underlying memory functions from the programmer, which makes it easier to program than C, but it also means that you don't know much about what the code actually does. If you come to robots from a computer science background (many people, especially in research), you may have learned Java. Like C# and MATLAB, Java is an interpreted language, which means it will not be compiled into machine code. Instead, the Java virtual machine interprets instructions at runtime. The theory of using Java is that thanks to the Java virtual machine, you can use the same code on many different machines. In practice, this does not always work, and sometimes causes the code to run slowly. However, Java is very popular in certain parts of the robot, so you may need it.
2.Python
Python has seen a huge resurgence in recent years, especially in robotics. One of the reasons may be that Python (and C++) are the two main programming languages ​​found in ROS. Like Java, it is an interpreted language. Unlike Java, the main focus of the language is ease of use. Many people think this is very good.
Python saves a lot of routine things that spend time in programming, such as defining and converting variable types. In addition, there are a large number of free libraries, which means that when you need to implement some basic functions, you don't have to "re-invent". And because it allows simple binding using C/C++ code, this means that the performance-heavy parts of the code can be implemented in these languages ​​to avoid performance degradation.
1.C/C++
Finally, we reach the first programming language for robotics! Many people agree that C and C++ are good starting points for new robots. Why? Because many hardware libraries use these languages. They allow interaction with low-level hardware, allow real-time performance and very mature programming languages. These days, you may use C++ more than C because the language has more features. C++ is basically an extension of C. It may be useful to learn at least a little bit of C first so that you can recognize it when you find a hardware library written in C. C/C++ is not as simple as it used to be, such as Python or MATLAB. Using C to achieve the same function can take a considerable amount of time and requires more lines of code. However, since robots are very dependent on real-time performance,
One of the main characteristics of the robot is its versatility. The programmable ability of the robot is an important means to realize this characteristic. Robot programming must involve robot language. Robot language is a method of using symbols to describe robot actions. Through the description of the robot, the robot can perform various operations in accordance with the programmer's intention.
The emergence and development of robotic language is closely related to the development of robotics and the development of computer programming languages. The core problem of the programming system is the operation motion control problem.
Robot programming system and method
Robot programming is the combination of robot motion and control problems, and it is also one of the most critical problems in the robot system. The current practical industrial robots are often offline programming or teaching. In the debugging stage, the compiled program can be carried out step by step through the teaching control box. After the debugging is successful, it can be put into formal operation.
The robot language operating system includes 3 basic operating states:
Monitoring status
Programming status
Execution status
Monitoring status: used to monitor and control the entire system.
Editing status: provide the operator to program or edit the program
Execution status: used to execute the robot program
Convert the robot source program into machine code, so that the robot control cabinet can directly read and execute, the compiled program will run faster.
According to the different work requirements of the robot, different programming is required. The programming ability has a great relationship with the programming method, and the programming method determines the adaptability and operating ability of the robot. With the widespread application of computers in industry, computer programming of industrial robots has become increasingly important.
Programming languages ​​are also diverse. At present, the programming methods of industrial robots are as follows:
Sequence control programming
In sequential control machines, all controls are realized by mechanical or electrical sequential control, and there is generally no requirement for program design. The flexibility of sequence control is small, because all the working processes have been edited and controlled by mechanical stops or other definite methods. A large number of automata are operated under sequential control. The main advantages of this method are low cost, easy control and operation.
Teaching method programming
At present, most industrial robots have the function of programming by teaching. Teaching method programming can generally be divided into two methods: hand-to-hand teaching programming and teaching box teaching programming:
Hand-to-hand teaching programming: It is mainly used for teaching programming of industrial robots that require continuous trajectory control such as painting and arc welding. The specific method is to use the teaching handle to guide the end effector through the required position, while the sensor detects the coordinate values ​​of the joints of the industrial robot, and the control system records and stores these data information. In actual work, the control system of the industrial robot will repeatedly reproduce the trajectory and operating skills taught.
Hand-held teaching programming can also realize point control. The difference from CP control is that it only records the positions of the two end points of the trajectory program movement, and the trajectory movement speed is input according to the functional data corresponding to each trajectory program segment.
The teaching programming method of the teaching box is to manually use the buttons with various functions on the teaching box to drive each joint axis of the industrial robot, and complete the position and function according to the sequence of single-axis movement or multi-joint coordinated movement required by the operation. Teaching programming. The teaching box is generally used for teaching large robots or robots under dangerous conditions.
Offline programming or pre-programming
Offline programming and pre-programming have the same meaning. It refers to programming in advance with the teaching method in the robot programming language. The advantage of offline programming: programming can not use the robot, and the robot can be freed for other tasks.
Operation plan and operating cycle can be optimized in advance
The previously completed process or subroutine can be integrated into the program compiled on behalf of, and the sensor can be used to detect external information, so that the robot can respond accordingly. This response allows the robot to work in an adaptive manner. The control function can include existing computer-aided design (CAD) and computer-aided manufacturing (CAM) information. Pre-running programs can be used to simulate the actual movement, so that there is no danger, and the robot movement can be simulated on the screen to aid programming. For different work purposes, only a part of the pending program needs to be replaced. In a non-adaptive system, there is no feedback from the external environment, and the only input is the measurement value of the joint sensor, so that simple programming methods can be used.
Programming requirements for robots
Able to model the world
Able to describe the robot's work
Able to describe the movement of the robot
Allow users to specify execution flow
Have a good editing environment
Types of robot editing languages
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