A STEP-NC online interpretation method for a
processing robot, opening a STEP-NC file and performing
text processing, checking basic
syntax, and storing the file in an internal
data format in units of lines; establishing a
tree data structure according to the relationship between the internal entities of the file, and obtaining a complete mapping of STEP-NC data on the internal data; traversing the established
data structure in a numbered order, and establishing a coordinate
transformation matrix between a
robot coordinate
system, a clamping coordinate
system, and a workpiece coordinate
system; searching an
executable structure entity
list, and generating a tool motion trajectory in a feature coordinate system according to the order of the
executable structure entities in the
list and transforming it into a tool trajectory in a
robot coordinate system; and finally outputting the
processing robot motion trajectory according to the type of
processing robot controller. The present invention reduces the
workload of information conversion and
programming during the working process of the processing robot, and effectively solves the problems of low work efficiency, inconvenient operation, and poor adaptability of STEP-NC file interpretation of the processing robot.