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Chapter 3 - Introduction To Robot Programming

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Rohan Kokatare
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15 views

Chapter 3 - Introduction To Robot Programming

Uploaded by

Rohan Kokatare
Copyright
© © All Rights Reserved
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
You are on page 1/ 3

AI: Hello, welcome to read the article titled **"Industrial Robotics and

Applications Chapter 2 - Introduction to Robot Languages and Programming."** The


document mainly talks about **robot programming methods, types of robot programming
languages, and the capabilities and limitations of lead-through programming.** You
can start asking questions like:

1. **What are the different types of robot programming methods?**


2. **What are the limitations of lead-through programming?**
3. **Can you explain the use of subroutine functions in robot programming?**

ME: GIVE ME ALL IMPORTANT QUESTION WITH ANSWERS

AI: Here are the important questions along with their answers based on the provided
context:

### 1. List different robot languages.


- **WAVE**: Developed in 1973 for research at Stanford.
- **AL**: Developed in 1974 for controlling multiple arms.
- **VAL**: Introduced in 1979 by Unimation for PUMA robots, upgraded to VAL II in
1984.
- **AUTOPASS**: An IBM language for robotic products.
- **AML**: A Manufacturing Language available since 1982.
- **RAIL, MCL (Manufacturing Control Language), APT (Automatically Programmed
Tooling)**: Other notable robot languages.

### 2. Compare robot-oriented programming with object-oriented programming.


- **Robot-Oriented Programming**: Focuses on motion control and task execution for
robots, often using teach pendants and textual commands.
- **Object-Oriented Programming**: Centers around objects and classes, promoting
code reusability and modularity, often used in software development.

### 3. State any FOUR motion commands.


- **MOVE**: Moves the end effector to a specified point.
- **SPEED**: Defines the velocity of the arm during movement.
- **PATH**: Connects several points to define a path in the workspace.
- **DMOVE**: Performs an incremental move.

### 4. State the limitations of lead-through programming.


- Cannot be used in production while programming is ongoing.
- Slow movement during programming.
- Non-intuitive jogging due to multiple coordinate systems.
- Difficult to incorporate sensor data.
- High cost equivalent to production value.
- Limited compatibility with CAD/CAM technologies.

### 5. Explain lead-through programming methods.


- **Powered Leadthrough**: Uses a teach pendant to control joint motors and record
discrete points for playback. Limited to point-to-point movements.
- **Manual Leadthrough**: The programmer physically moves the robot arm through the
desired motion cycle, often using a special apparatus for large robots. Suitable
for continuous path programming.

### 6. Write a VAL program to palletize an object. (Assume all necessary


dimensions)
```plaintext
BEGIN
MOVE A1
OPENI
APPRO A2, 50
CLOSEI
DEPART 50
MOVE A3
OPENI
DEPART 50
END
```

### 7. State the use of subroutine function in robot programming.


Subroutines allow the robot program to be divided into segments that can be
executed multiple times, facilitating the execution of different tasks without
rewriting code.

### 8. State any four sensor commands.


- **SIGNAL**: Turns on or off an output signal.
- **WAIT**: Verifies that a device has been activated before proceeding.
- **DELAY**: Waits for a specified time before continuing.
- **FEEDBACK**: Used to verify actuation of end effectors.

### 9. State the use of Teach pendant in robots.


The teach pendant is a handheld device used to manually control the robot's
movements, program paths, and set points through direct interaction with the robot.

### 10. Write a simple VAL program for Pick and Place operation.
```plaintext
BEGIN
MOVE A1
OPENI
APPRO A2, 50
CLOSEI
DEPART 50
MOVE A3
OPENI
DEPART 50
END
```

### 11. Write a program for Bolt inspection task.


```plaintext
BEGIN
MOVE INSPECTION_POINT
SIGNAL INSPECT
WAIT INSPECTED
IF (RESULT == OK) THEN
MOVE TO STORAGE
OPENI
CLOSEI
ELSE
MOVE TO REJECT_BIN
OPENI
ENDIF
END
```

### 12. State any FOUR End effector commands.


- **OPENI**: Opens the gripper immediately.
- **CLOSEI**: Closes the gripper immediately.
- **CLOSE X**: Closes the gripper to a specified width.
- **CENTER**: Gradually closes the gripper until contact is made with an object.
### 13. Compare online and offline programming.
| Online Programming | Offline Programming |
|---------------------|---------------------|
| No extra hardware/software required | Requires additional software and a computer
|
| Familiarity with teach pendants | May require additional training |
| Best for simpler applications | Best for complex programs |
| Increases robot downtime | Reduces robot downtime |
| Lacks precision | Simulation ensures accurate programming |

### 14. Explain any 6 VAL commands.


- **MOVE A1**: Moves the end effector to point A1.
- **SPEED 60 IPS**: Sets the speed to 60 inches per second.
- **DEFINE PATH1 = PATH (A1, A2, A3, A4)**: Defines a path through specified
points.
- **CLOSE 40**: Closes the gripper to a width of 40mm.
- **SIGNAL M**: Outputs a signal through line M.
- **WAIT N**: Waits for a signal on line N before proceeding.

These questions and answers cover the key concepts and functionalities related to
robot programming and languages as discussed in the provided context.

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