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Kinematics and Robot Programming

The document discusses robot programming using the VAL II language. It describes basic VAL II commands for variables, motion control, hand control and program flow. It also covers topics like sensors, data acquisition, analog and digital signals, computation and I/O control.

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Sourit Saha
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41 views50 pages

Kinematics and Robot Programming

The document discusses robot programming using the VAL II language. It describes basic VAL II commands for variables, motion control, hand control and program flow. It also covers topics like sensors, data acquisition, analog and digital signals, computation and I/O control.

Uploaded by

Sourit Saha
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Kinematics and Robot

Programming using VAL II


Prof. Ashish Dutta
Professor and Head
Department of Mechanical Engineering
IIT Kanpur, Kanpur 208016, INDIA
Generalized matrix
Jacobian and Singularity
Robot Programming

Dr. Ashish Dutta


Professor, Dept. of Mechanical Engineering
Coordinator, Center for Mechatronics
IIT Kanpur, INDIA
General structure of robot hardware
• Mechanical hardware : arms, motion transmission,
gripper.

• Robot Control unit: robot controller, motors, sensors,


power amplifiers, ADC/DAC.

• Central controller for interfacing robot with other


machines etc.
Using a robot:
• Teach pendent: used to manually teach different
points that are recorded in the robots memory. These
points can then be played back. e.g. tasks requiring
human skills e.g. welding, etc.

• Program based control:The desired task is written as


a sequence of motions in a language such as VAL.
These motions can then be played back.
Three generations of programming languages

• First generation: Simple commands for pick and place


operations, with limited interaction with limit switches
(ON/OFF), stops etc.

• Second generation: Interaction with the environment


using force, touch, ADC/DAC, etc.

• Third generation: Intelligence capability to understand


general commands e.g. ‘tighten a nut’
Examples of a few programming languages:
• VAL : Victors Assembly Language (1960). Developed
by Unimation for the PUMA robot.

• AML : Developed by IBM for manufacturing


automation systems (1960).

• RPL : based on FORTRAN Language (1960).


Basic commands in VAL II
• Constants, variables, data objects

• Motion control commands.

• Robot Hand control.

• Program control and input/output control.


Variables, Motion Control
• POINT P1 = 3, 4, 5, 30, 45, 50
(x, y, z, Ɵ, α, Ɣ)

• MOVE P1

• MOVES P1

• DRAW 45, 56, 60

• APPRO P1 50 (along z axis)

• DEPART P1 50 (along z axis)

• APPROS or DEPARTS APPRO or DEPART


MOVE and MOVES
• Straight line motion between two points requires
more energy ?

• Energy required is
proportional to the number
of joints that move to take
the end effector from one
point to another.
Hand Control
• OPEN and CLOSE

• OPENI and CLOSEI

• CLOSEI 75 in VAL
Why two commands OPEN and OPENI?
• SPEED 60 IPS

• DEFINE PATH1=PATH(A1,A2,A3)

• PAUSE Time (milli secs)


In – line robot cell
Pick from conveyor and place on table

Table : Parts to be placed in each


square : INDEXING
Robot centered cell – sequencing -
dead lock
Communication with Simple ON/OFF sensors
• Proximity : ultrasonic, hall effect, conductive sensors.

• Limit switches.

• ON +5 V
• OFF 0 V
Program Control, Interlock Commands and
• GOTO 20
• GOSUB and RETURN
• IF THEN ELSE

• PAUSE
PROCEED

ON/OFF Type communication based on high (+5V) / low (0V)signals

• SIGNAL 2,-3
• IFSIG 2,-3 THEN
• WAIT SIG (-1, 2)
• RESET turns off all external signals
• ON 2
• OFF 3
• RESET
What Is Data Acquisition?
What Is Data Acquisition?
• The process by which phenomenon in the real world
can be translated and manipulated by a computer-
readable signals.

• This physical phenomenon could be the force applied


to an object, temperature of a room, the pressure
inside a chamber and many other things.
There are some components to be considered
when building a basic DAQ system

• Transducers and sensors


• Signals
• Signal conditioning
• DAQ hardware
• Driver and application software
Sensors/Transducers

• A sensor is a device that responds to a physical stimulus (as


pressure, temperature, light, sound, or a particular motion)
and transmits a resulting impulse (a signal relating to the
quantity being measured). A sensor normally also has some
signal conditioning circuit.

• A transducer is a device that is actuated by power from one


system and supplies power usually in another form to a
second system. For example a loudspeaker.
Analog Signals
• An analog signal is a continuous signal that can be at
any value with respect to time.
e.g. analog signals include voltage, temperature,
pressure, sound, and load.

• The three primary characteristics of an analog signal


include level, shape, and frequency.
· level
· shape
· frequency
Digital Signals
• An analogue signal sampled at a particulate frequency
results in a digital signal.

• A digital signal has values only at certain instants of


time (at which it is being sampled).
ON/OFF type of digital signal
ADC / DAC
• ADC : Analogue to digital converters.
Temperature, force signal converted to digital signal for
a computer to read.

• DAC : Digital to analogue converters.


Digital voltage converted to analogue voltage.

Robots use ADC to convert forces, distance, etc from


analogue to digital value.
Input / output control
• IOPUT and IOGET
SIGNAL

ADC / DAC
• ADC1= SENSOR 1
DAC1= CONST
DAC1= 3 + CONST

• VAR 1 = ADC (1)


Computation and operations

• SIN(A)
• COS(A)

• SQRT(A)
• EQ, NE, GT …
Using a robot:

• Teach pendent: used to manually teach different


points that are recorded in the robots memory. These
points can then be played back. e.g. tasks requiring
human skills e.g. welding, etc.

• Program based control:The desired task is written as


a sequence of motions in a language such as VAL.
These motions can then be played back.
Computer integrated manufacturing
Lead through teaching
Program
example
PROGRAM DEPALLET 1
REMARK CORNER AND CHUTE LOCATIONS ARE TAUGHT

SETI MAXCOL=4
SETI MAXROW=3
SETI ROW =1
SETI COLUMN=1
SET PICK =CORNER
SHIFT PICK BY 20.00,-20.00, 60.00
OPENI
10 MOVE PICK
DRAW 0, 0, - 25.00
CLOSEI
DRAW 0, 0, 25.00
MOVE CHUTE
OPENI
GOSUB PALLET
IF ROW LE MAXROW THEN 10
END

Program Contd.
PROGRAM PALLET
SETI COLUMN = COLUMN + 1
IF COLUMN GT MAXCOL THEN 20
SETI COLUMN = 1
SHIFT PICK BY 50.00, 0.00, 0.00 30 RETURN
20 GO TO 10
SETI ROW = ROW + 1
IF ROW GT MAXROW THEN 30
SHIFT PICK BY – 150.00, -30.00, 0.00
Flexible manufacturing cell: Write a program
in VAL II

Drop point
Sensor
to detect arrival of
part

Parts carousel
Robot centered cell – sequencing -
dead lock

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