The invention discloses a structured language programming-based transcoding method and apparatus, which is applied to a robot. The structured language programming-based transcoding method comprises the steps of obtaining a source program for controlling the robot to run; performing scanning processing on the source program, performing lexical analysis on the source program to obtain minimum grammar units, combining the minimum grammar units to form a character string, and performing grammar analysis to obtain intermediate codes; and performing secondary scanning processing on the source program to form a symbol table which records the intermediate codes, and performing semantic analysis on symbols of the symbol table to generate structured target codes for controlling a motion control module of the robot. According to the technical scheme, the source program of the robot can be converted into the structured target codes, so that the convenience of compilation is brought for a user, thelearning cost is low, and the processing efficiency of a controller can be improved.