Robot Programing
Robot Programing
• For basic Robot tasks such as paint spraying and simple pick and place
the Robot programming method is on-line. This means that the Robot
moves in sympathy with commands use d by t he te ac he r /
programmer.
• On line programming a record play-back approach where the Robot
plays back a sequence of moves. There are two types of on-line
teaching:-
• 1) Lead-Through
• 2) Drive-Through(teach-pendant)
Lead-Through
• The Robot is taken through its operating
cycle manually and the movements of each
axis are logged automatically at frequent
intervals
• The positional information is sampled
periodically and stored in the computer
m e m or y. W h e n p l aye d b a c k t h e e n d
effector appears to follow a continuous
path.
• This method has the advantage of
simplicity but requires reprogramming for
each new task eg. painting a different
component.
Teach pendant
• This programming method is used
for industrial tasks of a pick and
place nature such as spot welding
and machine loading and
unloading.
• The Robot movements are
controlled by inputs from a teach
pendant or keypad, the
p ro g ra m m e r c a n s p e c i f y t h e
movement and velocity of each
robot limb between two points.
• The Robot cycle is a sequence of
such movements which can be
observed during the programming.
OFF-LINE PROGRAMMING
o Introduction
• WAVE
• Val(Victor’s Assembly Language)
• VAL_2
oGenerations of languages
Ø First generation
Ø Second generation
ROBOT PROGRAMMING LANGUAGES
o FIRST GENERATION LANGUAGE
• Use a combination of command statements & teach pedants
• Motion level language
• Advanced teach pedant method
• Abilities to define manipulators motion ,straight line interpolation &
elementary binary signals.
• E.g. VAL
Limitations of first generation languages
ØInability to specify complex arithmetic operations
ØInability to make use complex sensors & sensor data
ØLimited capability to communicate with other computers
SECOND GENERATION LANGUAGE
ØStructured programming languages
ØImproved languages
ØMore capabilities to make the robot more intelligent
ØE.g.. AML, RAIL, MCL & val-2 etc.
Features of second generation programming
• Motion control
• Advanced sensor capabilities
• Apart from straight line interpolation, performs complex motions.
• Uses force, torque and other sensors.
• Data processing, file management and keeping all records is done.
• Structural Programming language performing complex tasks.
• AML,VAL II etc…
ROBOT LANGUAGE STRUCTURE
oOperating System
oRobot language elements and functions
In a robot, there are 3 basic modes of operation:
Monitor mode
Edit mode
Run or Execute mode
Monitor mode:
Programmer define locations, load a particular information in a
register, save transfer programs from storage.
Move back and forth into edit or run mode
Edit mode:
Programmer can edit or change set of instructions.