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Textual Robot programming

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To make it serve itself for performing useful functions like approaching to work piece, automatic motion in workspace, robot programming is very important. Robot programming is important to coordinate various tasks & activities that needed in workspace. Coordination of robot is done by using various sensors & end effectors which can be coordinated by programs and simulation software’s.

Published in: Engineering

Textual Robot programming

  1. 1. ROBOT PROGRAMMING (TEXTUAL ROBOT PROGRAMMING) 12/09/2014 1 By Paritosh Chougule
  2. 2. OFF-LINE PROGRAMMING  Introduction • WAVE • Val(Victor’s Assembly Language) • VAL_2 Generations of languages  First generation  Second generation 12/09/2014 2
  3. 3. ROBOT PROGRAMMING LANGUAGES 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 12/09/2014 3
  4. 4. Limitations of first generation languages  Inability to specify complex arithmetic operations  Inability to make use complex sensors & sensor data  Limited capability to communicate with other computers 12/09/2014 4
  5. 5. SECOND GENERATION LANGUAGE  Structured programming languages  Improved languages  More capabilities to make the robot more intelligent  E.g.. AML, RAIL, MCL & val-2 etc. 12/09/2014 5
  6. 6.  Features of second generation programming  Motion control  Advanced sensor capabilities  Limited intelligence  Communication and data processing 12/09/2014 6
  7. 7. ROBOT LANGUAGE STRUCTURE Operating System Robot language elements and functions • Constants , variables and other data objects • Motion commands 12/09/2014 7
  8. 8. Motion Commands MOVE & Related statements  MOVE P1  MOVES P1  MOVE A1 VIA A2  DMOVE(4, 125)  APPRO P1, 40 MM  DEPART 40 MM 12/09/2014 8
  9. 9. Speed control statements  SPEED 60 IPS  SPEED 75 Definition of point in workspace  HERE A1  DEFINE A1=POINT(50.123 ,236.342 ,344.456, 25.75,125.755) 12/09/2014 9
  10. 10. Paths & 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 Gripper Commands OPEN CLOSE CLOSE 25 MM CLOSE 2.0 N 12/09/2014 10
  11. 11. SIMULATION & OFF-LINE PROGRAMMING  Program is prepared at a remote computer terminal and downloaded to robot controller for execution without need for lead through methods.  Just as if operator is at one location and he writes the program for the robot located at some remote location. 12/09/2014 11
  12. 12. 12/09/2014 12 THANK YOU

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