ROBOT PROGRAMMING
By
143-Akash Sanghvi
144-Varun Sharma
145-Gopesh Raval
146-Nitesh Dawani
WHAT IS ROBOT PROGRAMMING ?
Programming of a robot means to teach a robot how to do a
particular task in its work space effectively. It also means
communicating with the robot in its own language. It is also called
as learning.
We human beings converse or communicate with each other in our
own language such as English, Hindi and the local language.
Similarly, we converse with the machines in their own language
known as machine language.
A robot program is defines as a set of instructions written in
any language either in high level or low level language for the
robot to do a particular task OR communicating with a robot
in its own language.
METHODS OF ROBOT PROGRAMMING
1.
Lead through programming.
a. Powered lead through programming.
b. Manual lead through programming .
2.
Textual Method of Programming
a.On-line Programming
b.Off-line Programming
3.
Task Level Programming Languages
LEAD THROUGH PROGRAMMING
Leading the robot to the desired position and orientation from the
starting position either by using the remote control or by moving
with the human hand is known as lead through method of
programming.
There are 2 types of lead through method of programming.
1) Powered lead through.
2) Manual lead through.
Powered Lead Through
In this, a small control unit called as a teach pendant is used to
teach the robot how to do a particular job.
In this method,each axis of the robot is moved using the teach
pendant until the combination of all the axial positions yields the
desired position.
DISADVANTAGES
- It required human operator to spend time to program the robot.
- Robot goes out of service during the teaching period.
- Operators valuable time is lost.
Manual Lead Through
The manual lead through method is generally used for the continous
path robots.
In this method, the programmer physically grasps the robot arm and
the end effector, manually leads it through the desired path at the
required speed, while simultaneously recording the continuous
position of each axis and teaches the robot how to do a particular
task.
All the motions are recorded ( memorized ) in the memory of the
computer and later on played back to do the same job again and
again.
TEXTUAL METHOD OF PROGRAMMING
In this method of programming, the user writes a program in
English like language .
Using this language, the programmer instructs the robot to do the
task in English like commands
The advantage of this method is, it is a user friendly language and
any layman can operate the robotic system.
There are two types oftextual method of programming
1) On-line
2) Off-line
ADVANTAGES
- Software packages are very sophisticated, simulations has been
shown either in a 3D wire frame or as a solid model with full solid
shading
- Robot operations can be synchronized with other items of
eqipment in the work cell.
DISADVANTAGES
- Main drawback is that it requires detailed specification.
- The programmer needs a detailed information of the robot
characteristics
TASK LEVEL PROGRAMMING
It is the advanced level of programming which has been used in
recent years.
Programming using AI is called as Task Level Programming.
A task level programming system allows the user to describe the
task in a high level language called as the task specification.
ADVANTAGES
- Programmer need not specify the position and orientation of
objects at the pick and place points
DISADVANTAGES
Source and goal scene has to be specified .
ADVANTAGES
Optimal path/trajectory need not be specified.
THANK YOU
