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Robot Programing

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Vishal Parmar
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8 views

Robot Programing

Uploaded by

Vishal Parmar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ROBOT PROGRAMMING

By: Jayana Rana


On-Line Programming

• 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.

Run or Execute mode:


 Pre defined task can be executed in run mode.
 Dry run can be tested.
 Debugging.
Different Languages:

 VAL-for industrial robots-by Unimation


 AL-by Stanford University
 RAPID- by ABB Robotics
 AML—by IBM
 KAREL-GMF Robotics
Programming Commands:
oMotion Commands
• MOVE & Related statements
• MOVE P1
• MOVES P1 ---S -straight line
• MOVE A1 VIA A2
• DMOVE(4, 125) ---incremental/Delta move
• APPRO P1, 40 MM --- approch
• DEPART 40 MM
oSpeed control statements
• SPEED 60 IPS (inch per sec)
• SPEED 75 (75% of normal)
oDefinition of point in workspace
• HERE A1
• DEFINE A1=POINT(50.123 ,236.342 ,344.456, 25.75,125.755)
first threee x-y-z coordinates & other wrist rotaion angles
oPaths & Frames
• DEFINE PATH1 = PATH(P1, P2, P3)
• MOVE PATH1
• DEFINE FRAME1=FRAME(A1.A2,A3)
• DEFINE ROUTE :FRAME 1=PATH(P1,P2,P3,P4,P5)
• MOVES ROUTE:FRAME1
oGripper Commands
• OPEN
• CLOSE
• CLOSE 25 MM
• CLOSE 2.0
Thank You

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