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Robotics Programming and Applications

This document discusses robotics programming and applications. It covers basic concepts in robotics, programming methods including manual teaching, lead through teaching, and programming languages. It also discusses the VAL programming system and language, economics of robotics, and applications of robots in various industries like automotive, medical, agriculture, and more. In conclusion, robotics has evolved from entertainment to increase productivity in jobs requiring speed, accuracy or endurance.

Uploaded by

suneel kumar rathore
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
222 views

Robotics Programming and Applications

This document discusses robotics programming and applications. It covers basic concepts in robotics, programming methods including manual teaching, lead through teaching, and programming languages. It also discusses the VAL programming system and language, economics of robotics, and applications of robots in various industries like automotive, medical, agriculture, and more. In conclusion, robotics has evolved from entertainment to increase productivity in jobs requiring speed, accuracy or endurance.

Uploaded by

suneel kumar rathore
Copyright
© © All Rights Reserved
Available Formats
Download as PPT, PDF, TXT or read online on Scribd
You are on page 1/ 35

ROBOTICS PROGRAMMING AND

APPLICATIONS
CONTENTS-

-Basic Concepts in Robotics

-Programming
-Economics
-Applications
-Conclusion

INTRODUCTION
The

Robot Institute of America (RIA)


defines the industrial robot as a
reprogrammable
multi-functional
manipulator
designed
to
move
material, parts, tools, or other
specialized devices through variable
programmed
motions
for
the
performance of a variety of tasks.

PROGRAMMING
Three Programming Methods:

Manual teaching
Lead through teaching
Programming languages

PROGRAMMING CONTD..
1.Manual Teaching:

Point to Point applications


2.Lead Through Teaching:

Continuous Path Programming

Robot Simulator

Advantage is direct programming but


also have disadvantages

PROGRAMMING CONTD..

Disadvantages:
Every

motion is recorded and played back


in the same manner . So unintentional
motions also be played.
Impossible to achieve exact required
velocity
Memory size is required to store the data.
Investment in a simulator is required.

PROGRAMMING CONTD..

3.Programming Languages:
AL

VAL

AML
RPL

PROGRAMMING CONTD..
Classification of Robotics Languages:
First

Generation Language
Second Generation Language
World modeling and task oriented object level
language

PROGRAMMING CONTD..

First Generation Language:


Off-Line

Programming used in
combination with teach pendant.
VAL is an example of this kind.

PROGRAMMING CONTD..

Second Generation Language:


AML,VAL

II etc
Structural
Programming
language
performing complex tasks.
Apart from straight line interpolation
performs complex motions.
Uses force, torque and other sensors.
Data processing, file management and
keeping all records is done.

PROGRAMMING CONTD..
World modelling & task oriented object
level language:
More advanced language is WORLD
modelling.
TIGHTEN THE NUT.
Intelligence is required.

PROGRAMMING CONTD..

In a robot, there are 3 basic modes


of operation:
Monitor

mode
Edit mode
Run or Execute mode

PROGRAMMING CONTD..

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

PROGRAMMING CONTD..

Edit mode:

Programmer

instructions.

can edit or change set of

Run or Execute mode:


Pre

defined task can be executed in run


mode.
Dry run can be tested.
Debugging.

VAL SYSTEM AND LANGUAGE


1.

INTRODUCTION TO VAL:

Programming language and operating


system which controls a robotic system.
VAL programs also include subroutines,
which are separate programs.

VAL SYSTEM AND LANGUAGE


CONTD

2.LOCATIONS:
Represents

the position and orientation of

robot tool.
Two ways of representing robot locations
* Precision point.
* Cartesian coordinates and orientation
angles.
These are called transformations.

VAL SYSTEM AND LANGUAGE


CONTD

3.TRAJECTORY CONTROL:

Two methods to control the path of the robot.


Interpolate between initial and final position,
producing tool tip curve in space.
Move the robot tip in straight line path.

VAL SYSTEM AND LANGUAGE


CONTD

3.TRAJECTORY CONTROL:

For the first case, called JOINT


INTERPOLATED MOTION, the total time
required is that of the longest joint in the
robot.
In the second case, the motion speed of the
robot tool tip can be accurately controlled.

VAL SYSTEM AND LANGUAGE


CONTD

4.MONITOR COMMANDS:

To enter and execute a program, we have to


use monitor commands.
Defining and Determining Locations.
Editing Programs.
Listing Program and Location Data.
Storing, Retrieving and Location Data.
Program control

VAL SYSTEM AND LANGUAGE


CONTD

Determining and Defining Locations:


HERE

and POINT command.


WHERE command is used to display the
current location.
TEACH command is used for recording
locations when RECORD button is pressed.

VAL SYSTEM AND LANGUAGE


CONTD

Editing Programs:
EDIT

command.

Listing Program and Location Data:


LISTL

& LISTP commands.

Storing, Retrieving and Location Data:


LISTF

command.
STOREP, STOREL and STORE commands.
LOADP, LOADL and LOAD commands.

VAL SYSTEM AND LANGUAGE


CONTD
Storing, Retrieving and Location Data:
In VAL II, an additional command is FLIST.
Besides VAL and VAL II can accept commands.
COPY
RENAME
DELETE

VAL SYSTEM AND LANGUAGE


CONTD
Program control:
SPEED command.
EXECUTE command.
ABORT command.
DRIVE command.
DO ALIGN command.

VAL SYSTEM AND LANGUAGE


CONTD
PROGRAM INSTRUCTIONS:
Describes some important instructions
included in the program.
Robot Configuration Control.
Motion Control.
Hand Control.
Location, Assignment and Modification.
Program Control.

VAL SYSTEM AND LANGUAGE


CONTD
Robot Configuration Control:
Execution of next motion of instruction other
than a straight line.
RIGHTY or LEFTY command.
ABOVE or BELOW command.

VAL SYSTEM AND LANGUAGE


CONTD
Motion Control:
MOVE command.
MOVES command.
DRAW command.
APPRO command.
DEPART command.
APPROS or DEPARTS commands.
CIRCLE command.

VAL SYSTEM AND LANGUAGE


CONTD
Hand Control:
OPEN and CLOSE commands.
OPENI and CLOSEI commands.
CLOSEI 75 in VAL II, if a servo-controlled
gripper is used, then this command causes
the gripper to close immediately to 75
mm.
A gripper closing command is also given
by
GRASP 20, 15

VAL SYSTEM AND LANGUAGE


CONTD
Hand Control:
MOVEST PART, 30
Indicates the servo controlled end
effector causes a straight line motion to a
point defined by the PART and the
gripper opening is changed to 30 mm.

VAL SYSTEM AND LANGUAGE


CONTD
Hand Control:
MOVET PART, 30
Causes the gripper to move to position, PART with
an opening of 30 mm by Joint Interpolated
Motion.

VAL SYSTEM AND LANGUAGE


CONTD
Location, Assignment and Modification:
The instructions that do the same as
the corresponding monitor commands
SET and HERE commands.

VAL SYSTEM AND LANGUAGE


CONTD
Program Control:
SETI command sets the value of an
integer variable to the result of an
expression
TYPEI displays the name and value of an
integer variable.
GOTO20
GOSUB and RETURN
PAUSE

VAL SYSTEM AND LANGUAGE


CONTD
Program Control:
PROCEED
SIGNAL
IFSIG and WAIT
RESET

ECONOMICS
A

simple economic analysis assumes that


the payback period is given by
P = R / (L-M)
Where P = payback period in years
R = investment in robot and accessories
L = labor saving per year
M = maintenance and programming cost
per year

APPLICATIONS
The robots are used in the following areas:
1.Automotive industry
2.Assembly
3.Medical laboratories
4.Medicine
5.Nuclear energy

APPLICATIONS
The robots are used in the following areas:
6.Agriculture
7.Spatial exploration
8.Under water inspection
9.Customer service
10Arts and environment

CONCLUSION

Robotics began as a form of entertainment and


has evolved into a technology used in the fields of
increased productivity and endurance. Also, jobs
which require speed, accuracy, extremely boring
reliability or endurance can be performed far
better by a robot than a human.

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