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    Programming Methods For Robots: Apurva Joshi M.Tech (RE)

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    అయ్యలసోమయాజుల సాయి శివ
    This document discusses various methods for programming robots. It describes manual programming, walk-through programming, teach pendant programming, and offline programming methods. It also discusses different levels of robotic languages from micro-computer machine level to structured programming level and requirements of an effective robot programming language including world modeling, motion specification, flow of execution, and sensory control.

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    Programming Methods For Robots: Apurva Joshi M.Tech (RE)

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    అయ్యలసోమయాజుల సాయి శివ
    74 views21 pages
    This document discusses various methods for programming robots. It describes manual programming, walk-through programming, teach pendant programming, and offline programming methods. It also discusses different levels of robotic languages from micro-computer machine level to structured programming level and requirements of an effective robot programming language including world modeling, motion specification, flow of execution, and sensory control.

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    This document discusses various methods for programming robots. It describes manual programming, walk-through programming, teach pendant programming, and offline programming methods. It also discusses different levels of robotic languages from micro-computer machine level to structured programming level and requirements of an effective robot programming language including world modeling, motion specification, flow of execution, and sensory control.

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    Download as pdf or txt
    74 views21 pages

    Programming Methods For Robots: Apurva Joshi M.Tech (RE)

    Uploaded by

    అయ్యలసోమయాజుల సాయి శివ
    This document discusses various methods for programming robots. It describes manual programming, walk-through programming, teach pendant programming, and offline programming methods. It also discusses different levels of robotic languages from micro-computer machine level to structured programming level and requirements of an effective robot programming language including world modeling, motion specification, flow of execution, and sensory control.

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    Programming Methods for Robots

    Apurva Joshi M.Tech (RE)

    Introduction
    Fixed Automation
    Robot Manipulator

    Robot Program
    To define path in space followed by manipulator combined with peripheral actions that support work cycle Peripheral actions
    Gripper operation Logical decision making Communicating with other equipment

    Robot Language
    Developed for ease of control of motions of robots having different structures and geometric abilities Provide flexibility to user in defining task to be performed Ability to imbue intelligence in control program

    Robot Programming
    Substantially different from traditional programming. Considerations to be handled:
    Objects to be manipulated: 3D geometry, variety of physical properties Robots operate in spatially complex environment Representation of 3D objects on a computer imprecise, discrete Monitoring, manipulation of sensory info Real time processing

    Current approaches to programming


    Robot-oriented programming Object oriented or tasklevel programming

    Assembly task explicitly described as a sequence of robot motions Robot guided and controlled by program, each statement corresponding to an action

    Describes assembly task as sequence of positional goals of objects rather than the robot motion required to achieve the goals No explicit robot motion specified

    Methods to program robots work cycle


    Manual programming method Walk through programming method Teach pendant/lead through programming method Offline programming method

    Manual programming method


    Employed for robots which perform simple tasks like pick and place, loading and unloading, etc. Various controlling components of a robot like cams, stops, switches, control relays, etc. are set through this method

    Walk through programming method


    Arm and hand of robot initially moved manually These movements stored in computer memory for being followed during further operations Suitable for robots used in arc welding and spray painting operations

    Teach Pendant/Lead through programming method


    A control box with buttons (teach pendant) used to control joint motors Points of motion recorded in memory and converted to motion programs Then, program is used to play back the motion during the cycle of operation More useful than point-to-point movements

    Teach pendants
    Hand held boxes that allow control of each manipulator joint or of each Cartesian DoF Allow testing and branching so that simple programs involving logic can be entered Primary functions
    To guide robot while teaching locations Point of control for initiating and monitoring operations Support application programs

    Types:
    Programmer Operator

    Teach Pendant Courtsey: industrial-electricity.com

    Offline programming method


    Separately prepared and fed into computer memory Readily available for use whenever operation is to be performed Can be prepared simultaneously while robot is operating on some other task thus saving time and increasing utility of robot Can be connected to central CAD/CAM database system

    Offline programming method


    Advantages Effective programming of locations Cost independent of production Verification of program through simulation and visualization Disadvantages Large investment in installing an offline programming system Extensive training required

    Requirements of a Programming Language


    World modeling
    Given a robot programming environment that supports geometric types, the robot and other machine parts can be modeled by defining named variables associated with each object of interest

    Motion specification
    Permit user to specify via points, the goal point and the type of motion to be used. User may have control over speed of motion

    Requirements of a Programming Language


    Flow of execution
    Permits user to specify flow of execution, i.e. concepts such as testing and branching, looping, calls to subroutines, interrupts

    Sensory control
    Info gathered by sensors needs to act as a feedback from the environment

    Programming environment
    Good programming environment fosters programmer activity

    Execute one line of program at a time Execution continues till last line encountered or error is detected Simple debugging, Faster Easier

    Types of Robot Programs


    Interpreter based Execute one line of program at a time Execution continues till last line encountered or error is detected Simple to debug Complier Based Use complier to translate whole program into machine language Since processor executes object code, faster and more efficient Impossible to run with errors Debugging difficult

    Levels of Robotic Languages


    Micro-Computer Machine Level Language
    Written directly in machine language Most basic, very efficient, difficult to understand All languages eventually complied to this level

    Point-to-point level
    Co-ordinates of points entered sequentially and robot follows those points Primitive, simple, easy, not very powerful Lacks branching, sensory info, conditional statements Eg: Funky, Cincinnati Milacrons T3

    Levels of Robotic Languages


    Primitive Motion Level
    Includes sensory info, branching, conditional statements Interpreter based Ex: Unimations VAL, Adepts V+

    Structured Programming level


    Complier based Powerful, sophisticated but difficult to learn

    Queries

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