Sri Vidya College of Engineering & Technology, Virudhunagar Course Material (Lecture notes)

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UNIT 4
Robot kinematics and Robot

T
Programming

CE
SV
Prepared by
S. Senthil Kumar
AP/MECH
SVCET
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Robot Programming

• Teach Pendant Programming

– Programmer’s pendant
– Operator’s pendant

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• Lead Through programming

CE
– Powered lead through
– Manual lead through
SV

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Teach pendant Programming
•Serves as a primary point of control for initiating and
monitoring operations
•Guides the robot while teaching the locations
Types:
•Programmer’s pendant

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•Operator’s pendant

CE
SV

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Teach Pendant Programming
• Programmer’s pendant is designed for using while an
application is being written and debugged
• Operator’s pendant is designed for use during normal system
operation

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• Operator pendant has a palm operated switch, which is

CE
connected to the remote emergency stop circuitry of the
controller
• Major areas of teach pendant are
SV
• Data entry buttons
– Used to input data normally in response to prompts that appear on the
pendant display
• Emergency stop switch
– Halts program execution and turns off power

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Teach Pendant Programming
• User LED:
– When it is not lit, none of the predefined functions are being used
– When it is lit application program is being in use
• Mode control buttons:
– When it is in manual mode, these buttons select which robot joint will
move, or the co-ordinate axis along which the robot will move
• Manual state LED’s:

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– Indicated the type of manual motion that has been selected

CE
• Speed bars:
– Used to control robot’s speed and direction
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• Slow button:
– Selects between two different speed ranges of speed bars
• Pre-defined function button:
– display of co-ordinates, clear error etc.,
• Programmable function button:
– Used in custom application programs
• Soft button:
– Depends on application program being run, or the selection made from the
ME 2028 -- pre-defined function
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Lead Through programming
• Robot is moved through the desired motion path in order to
record the path into controller memory
• Two types
– Powered lead through
– Manual lead through

T
Powered lead through:

CE
• Makes use of teach pendant to control various joint motors
• Helps in driving the robot arm and wrist through series of
SV
points in space
• Each point is recorded in memory for subsequent playback
during work cycle
• Largely limited to point to point control options, since it is
difficult to regulate complex geometric motions in space
• Includes part transfer tasks, machine loading and unloading
and spot welding
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Lead Through programming
Manual lead through:
• Also called as walk through method
• Used for continuous path programming where the motion
cycle involves smooth complex curvilinear movements of arm
• Most widely used application is Spray painting, where the gun

T
is attached at the end effector must execute a smooth, regular

CE
motion pattern to pain in an even manner over the entire
surface to be coated
SV
• Continuous arc welding is another example
• The programmer physically grasps the robot arm and manually
moves it through the desired motion cycle
• If the robot is large, it will be difficult to move
Two modes of control systems for both lead through procedures:
1. teach mode : used to program the robot
2. Run
ME 2028 mode- UNIT
-- ROBOTICS : used
4 to execute the program
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Robot programming Languages
• Textual robot languages possess a variety of structures and
capabilities
Generation of programming languages:
• First generation language
• Second generation language

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• Future generation language

CE
First generation language:
• Uses a combination of command statements
SV
• Developed largely to implement motion control with a textual
programming language
• Also called as ‘motion level’ languages
• Typical features include
– Ability to define manipulator motions
– Straight line interpolation
– Branching
– Elementary sensor commands involving
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binary signals
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Robot programming Languages
• VAL programming is an example of first generation robot
programming language
• Limitations include
– Inability to specify complex arithmetic computations for use during
program execution
– Inability to make use of complex sensors and sensor data

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– Limited capacity to communicate with other computers

CE
Second generation languages:
• Overcome many of the limitations of the first generation
SV
languages
• Enables the robot to accomplish more complex tasks
• Also called as ‘structured’ programming languages
• Commercially available languages include
– AML, RAIL, MCL, VAL-II
• Programming in these languages is similar to computer
programming
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Robot programming Languages
• One limitation is that computer programmer’s skills are
required to accomplish the programming
• Features and capabilities are
– Motion control
• Basically same as for the first generation languages

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– Advanced sensor capabilities

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• Capacity to deal with more than simple binary signals like analog signals
• Capacity to control devices by means of sensory data
– Limited intelligence
SV
• Ability to utilize information received about the work environment to modify
system behavior in a programmed manner
– Communications and data processing
• Provisions for interacting with computers and computer data bases

• Sensors can be able to measure the forces

• Limited intelligence is provided
• Error recovery is enhanced
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Robot programming Languages

Future generation languages:

• Involves a concept called ‘work modeling’
• Robot possesses a three dimensional world and it is capable of
developing its own step by step procedure to perform a task

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based on a stated objective of what is to be accomplished

CE
• Two basic ingredients
– First, is robot system has its control memory a 3-D model
SV
– This model includes the robot manipulator itself, the work table,
fixtures, tools etc.,
– At times the robot develops its own three 3-D model of work space
– Second, is the capacity of automatic self programming
– In effect, the human programmer gives the system an objective, and the
system develops its own program of actions required to accomplish the
objective

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VAL Programming
• Victor’s Assembly Language, named after Victor Scheinman in
1979 by Unimation, Inc., for its PUMA robot series
• The language is then upgraded to VAL II in 1984

T
CE
SV

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