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博碩士論文 etd-0619117-153441 詳細資訊
Title page for etd-0619117-153441
論文名稱
Title
機械手臂控操圖形化介面
A Visual Programming Editor for Industrial Robots
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
40
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2017-07-18
繳交日期
Date of Submission
2017-07-19
關鍵字
Keywords
Blockly、圖形化介面、Lua、積木導向、腳本語言
Block-oriented, Graphical user interface, Script language, Lua, Blcokly
統計
Statistics
本論文已被瀏覽 5739 次,被下載 303
The thesis/dissertation has been browsed 5739 times, has been downloaded 303 times.
中文摘要
圖形式程式設計語言與一般程式語言相比可以使得初學者在學習上的障礙大幅減少,Blockly是以積木為導向的程式語言,在編輯過程中是用拖拉積木方塊的方式來完成程序編輯,完全不需要手寫程式,使對程式語法熟悉度不夠的使用者在程序編輯上不會有很大的困難度,這樣的方式可以讓使用者輕易上手且較快速地適應。Lua是一個可嵌入的擴展式腳本語言,Lua是所有腳本語言體積最小且速度最快的,因此Lua最適合拿來嵌入在應用程序中。本論文透過Google的Blockly圖形化介面、Lua、與業者所生產的機械手臂控制語言軟體相結合,使用者可以通過提供的積木拖拽組合成程式碼,使用網路通訊將資料傳送給機械手臂控制軟體,在機械手臂控制軟體中展示出該程序的運動效果。
Abstract
A graphical programming language can significantly relax the effort in learning programming languages for the beginners, compared with the normal programming language. Blockly is a building-block oriented programming language so as that learners drag the building blocks to complete programs in the editing process, instead of hand coding. It can reduce a lot of difficulties for users not familiar with program syntax and allow them to get started easily and quickly. Lua is an embeddable extended scripting language. It is the smallest and fastest one in all scripting languages, hence it is best for embedding in programs of the applications. In this thesis, through the combination of Google's Blockly modules, Lua, and robot control language software produced by ITRI , a user can drag and place building blocks to complete programming codes in terms of graphic user interface. The interpreted codes send commands and data to a robot controller to manipulate the robot/via the internet. Experiments have been conducted to impose the proposed application on a six degree-of-freedom industrial robot manufactured by a research institute.
目次 Table of Contents
論文審定書 i
摘要 ii
Abstract iii
目錄 iv
圖次 v
I . 導論 1
1.1 動機 1
1.2 論文架構 2
II . 背景介紹 3
2.1 MIT Scratch 3
2.2 Google Blockly 4
2.3 腳本語言 5
2.3.1 Lua腳本語言 6
III . 設計方法 8
3.1 Blockly積木方塊設計 8
3.1.1 Blockly積木方塊創建 8
3.1.2 導入Blockly圖形化介面 13
3.2 Lua與C++整合應用 14
3.2.1 Lua嵌入應用程序 14
3.2.2 Lua與C++交互 15
IV 實驗結果 20
4.1 Blockly圖形化程式設計的實現 20
4.2 實作結果 23
V 結論與未來展望 32
5.1結論 32
5.2未來展望 32
參考文獻 33
參考文獻 References
[1] “MIT Scratch,” Scratch.mit.edu, 2017. [Online]. Available: https://scratch.mit.edu.
[2] “Scratch: MIT Media Lab,” designenvy.aiga.org, 2017. [Online]. Available: http://
designenvy.aiga.org/scratch-mit-media-lab/.
[3] N. Fraser, “Ten Things We’ve Learned from Blockly,” IEEE Blocks and Beyond Workshop, pp. 49-50, 2015
[4] “Google Blockly,” Developers.google.com, 2017. [Online]. Available: https://deve
lopers.google.com/blockly/.
[5] R. Ierusalimschy, “Programming in Lua, First Edition,” pp. 1-3, 2003
[6] “Lua,” Lua Homepage, 2017. [Online]. http://www.lua.org/home.html.
[7] 覃飞龙, “基于 JavaScript 的图形化运动编程软件研究,” 学位论文, 成都信息工程学院, 2014
[8] “Block Factory,” Blockly Demo: Blockly Developer Tools, 2017. [Online]. https://
blockly-demo.appspot.com/static/demos/blockfactory/index.html.
[9] “Blockly Developer Tools,” Blockly configuration process, 2017. [Online]. https://
developers.google.com/blockly/guides/create-custom-blocks/blockly-developer-tools.
[10] R. Ierusalimschy, “Programming in Lua,” First Edition, pp. 178-197, 2003
[11] K. Jung and A. Brown, “Beginning Lua Programming,” pp. 413-422, 2007
[12] “Lua 5.3 Reference Manual,” Lua Manual, 2017. [Online]. https: // www.lua.org/
manual/5.3/.
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