The invention discloses a free
programming method of a
manipulator motion controller. All instructions commonly used by a user are integrated on a
software interface, so that the free
programming method is high in adaptability, free
programming of control of most manipulators can be met, the situation that in the prior art, programming methods need to be customized according to specific functionsof the manipulators is broken through, and the
manipulator control cost can be effectively reduced. And all instructions are classified and affiliated, so that the instructions are clear in classification, parameters in the instructions are arranged in order, the
programming complexity is reduced, the programming efficiency is improved, and the
readability of the instructions is also improved dueto the ordered arrangement of the parameters. Meanwhile, each instruction or instruction category is named as a popular and easy-to-understand name;
software codes and the like with high technicalityare called at the bottom layer through a control, and the content of a shallower layer is displayed on a
software interface for programming, so that the situation that a
user needs to learn a
programming method with high technicality is avoided, the technical requirements on operators are reduced, and the
programming method of the
manipulator is universalized.