Hybrid programming language for arc welding robot

On the base of analysing characteristics and components of robot languages,hybrid arc welding robot language(HAWRL) was presented.Besides the sequential,conditional,iterative and subroutine functions that some normal computer programming languages needed,HAWRL has some functions about motion control and welding of robot,which is neccessary for arc welding robot.In order to implement these functions,method of expressing data,commands set and variables are designed and a new program structure,which separates data from program, was presented.And then,HAWRL have the advantages of the simpleness and convenience like the robot-level language and high efficiency like the task-level languages.Result show that the robot programs can be produced efficiently,quickly and easily by HAWRL and can be executed correctly.At the same time,it provides the general interface for robot to connect other external devices.