The document discusses robot programming methods including online programming techniques like teach-in and playback as well as offline programming. It covers topics such as joint-level, robot-level, and high-level programming and explains the benefits of offline programming such as reducing robot operating time and allowing programming without robot access. Offline programming is considered more productive for industry as it allows programming to overlap with robot operation.
Robot Control types and applications 2024AJIJSAYYAD1
1) Robots are classified based on their control systems into point-to-point robots, continuous-path robots, and controlled-path robots.
2) Point-to-point robots move between programmed points, continuous-path robots can stop at any point along a programmed path, and controlled-path robots can generate complex paths with a high degree of accuracy.
3) Robot reach refers to the space of points the robot arm can access and is an important factor to consider when selecting a robot for an application.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
Simulation of robotic positions and programmingRachit Laharia
This document discusses simulation and programming of robotic positions. It describes using simulation software to test robotic systems virtually before implementing them in the real world. This allows exploring design options while avoiding risks to the physical robot. The document also covers different types of robotic programming including joint-level, robot-level, and high-level programming. It compares online and offline programming methods and discusses advantages and disadvantages of techniques like teach pendants and lead-through programming.
Unit IV.pptx Robot programming and LanguagesBalamech4
1. The document discusses robot trajectory planning, programming languages, and kinematics. It describes different levels of robot programming languages from microprocessor to task-oriented levels.
2. Common robot programming languages are described including VAL, a popular language developed for PUMA robots. A simple VAL program example to move grip and transport an object is provided.
3. Key concepts in robot kinematics like forward and inverse kinematics are explained, which relate joint angles to world coordinates and vice versa. Introduction to the robot operating system ROS is also given.
Industrial robots have been used in manufacturing since the 1950s. They are programmable devices that use manipulators to perform manufacturing tasks like welding and assembly. The manipulator consists of joints and links that position an end effector, typically a gripper. Robots are programmed using manual teaching, lead-through, or programming languages. Common applications include material handling, painting, welding, and inspection. While robots increase productivity and safety, they also displace some human labor.
This document discusses robot technology for automation and robot programming. It covers topics like work cell controller programming, programming sequential cell activity, robot language development, robot program fundamentals using the V+ programming language, and provides examples. It describes the different types of work cell control software, robot programming languages by level from joint control to task-oriented, and common motion instructions. Sample V+ programs for clock assembly are also included to demonstrate concepts like locations, motion, and cycle times.
This document discusses trajectory generation methods for robotics. It describes a joint-space trajectory generation scheme where:
1) The desired motion in Cartesian space is converted to joint angles using inverse kinematics.
2) Smooth functions like cubic polynomials are generated for each joint angle using boundary conditions like initial/final positions and velocities.
3) The resulting joint trajectories can be converted back to Cartesian space using direct kinematics, such as for obstacle avoidance.
Robot Control types and applications 2024AJIJSAYYAD1
1) Robots are classified based on their control systems into point-to-point robots, continuous-path robots, and controlled-path robots.
2) Point-to-point robots move between programmed points, continuous-path robots can stop at any point along a programmed path, and controlled-path robots can generate complex paths with a high degree of accuracy.
3) Robot reach refers to the space of points the robot arm can access and is an important factor to consider when selecting a robot for an application.
This document discusses robot programming methods. It describes different types of robot programming including joint-level, robot-level, and high-level programming. It also covers various robot programming methods such as manual, walkthrough, leadthrough, and offline programming. Specific programming languages and their applications are also summarized.
Simulation of robotic positions and programmingRachit Laharia
This document discusses simulation and programming of robotic positions. It describes using simulation software to test robotic systems virtually before implementing them in the real world. This allows exploring design options while avoiding risks to the physical robot. The document also covers different types of robotic programming including joint-level, robot-level, and high-level programming. It compares online and offline programming methods and discusses advantages and disadvantages of techniques like teach pendants and lead-through programming.
Unit IV.pptx Robot programming and LanguagesBalamech4
1. The document discusses robot trajectory planning, programming languages, and kinematics. It describes different levels of robot programming languages from microprocessor to task-oriented levels.
2. Common robot programming languages are described including VAL, a popular language developed for PUMA robots. A simple VAL program example to move grip and transport an object is provided.
3. Key concepts in robot kinematics like forward and inverse kinematics are explained, which relate joint angles to world coordinates and vice versa. Introduction to the robot operating system ROS is also given.
Industrial robots have been used in manufacturing since the 1950s. They are programmable devices that use manipulators to perform manufacturing tasks like welding and assembly. The manipulator consists of joints and links that position an end effector, typically a gripper. Robots are programmed using manual teaching, lead-through, or programming languages. Common applications include material handling, painting, welding, and inspection. While robots increase productivity and safety, they also displace some human labor.
This document discusses robot technology for automation and robot programming. It covers topics like work cell controller programming, programming sequential cell activity, robot language development, robot program fundamentals using the V+ programming language, and provides examples. It describes the different types of work cell control software, robot programming languages by level from joint control to task-oriented, and common motion instructions. Sample V+ programs for clock assembly are also included to demonstrate concepts like locations, motion, and cycle times.
This document discusses trajectory generation methods for robotics. It describes a joint-space trajectory generation scheme where:
1) The desired motion in Cartesian space is converted to joint angles using inverse kinematics.
2) Smooth functions like cubic polynomials are generated for each joint angle using boundary conditions like initial/final positions and velocities.
3) The resulting joint trajectories can be converted back to Cartesian space using direct kinematics, such as for obstacle avoidance.
This document provides an introduction to robotics, including definitions, classifications of robots, robot coordinates, work volumes, reference frames, applications, and end effectors. It discusses the difference between automation and robots, defines key robotics terminology, and outlines Isaac Asimov's three laws of robotics. Examples of ideal robot tasks are given, along with a timeline of important developments in robotics history. Common robot configurations, work envelopes, and wrist motions are described. The document also covers robot programming, control methods, actuators, sensors, performance measures, and different types of end effectors including mechanical grippers and gripper mechanisms.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
This document provides an introduction and overview of robotics. It discusses the timeline of important developments in robotics from the 1920s to the 1990s. It then covers classifications of robots, definitions of robots, common robot configurations and their work envelopes, robot components like end effectors and actuators, and different methods of robot programming including teach pendants and programming languages.
The document provides information about components, operating modes, programming, and calibration of industrial robots. It discusses the major components of robots including the manipulator, controller, end-effector, and man-machine interface. It describes the operating modes of robots as manual, manual 100%, and automatic. The document also covers basic robot programming using the RAPID language and common instructions. It discusses calibration procedures such as updating revolution counters and motor calibration values.
This document summarizes a presentation on the design and implementation of a low-cost articulated robot with an automatic tool changer (ATC) and computer vision (CV). The presentation was given by three students to review their project, which focuses on developing a robotic arm with a coupling mechanism to change tools in the end effector. Work done so far includes confirming the coupling mechanism, finalizing the architecture and components. Upcoming work includes building the mechanical structure, implementing the circuitry and coupling mechanism, and developing the kinematic movements and software. The project aims to optimize performance and versatility in tool swapping tasks.
Development of an autonomous vehicle dispatch system with a robot used as prototype to a user who interacts with our system via an android App. The robot nearest to our user is dispatched to the user to increase time and fuel efficiency.
The document discusses industrial robot applications and programming. It describes how robots are used for material handling, assembly, processing and inspection operations that are hazardous, repetitive or difficult for humans. It then covers various types of material handling applications including pick and place, palletizing, machine loading/unloading and stacking operations. The document also discusses robot programming methods, languages, accuracy, repeatability and resolution.
This document provides an introduction and overview of robotics. It discusses the timeline of robotics development. It describes different types of robots based on their classification and configuration. It also covers robot components like manipulators, end effectors, actuators, sensors, and controllers. The document discusses robot programming methods, reference frames, work envelopes, and control methods.
Help humans in daily tasks like serving food, cleaning etc.
Industrial: Used in manufacturing for tasks like welding, assembly etc.
Surgical: Used in minimally invasive surgeries with greater precision.
Space: Used for space exploration, planetary rovers, satellite repair etc.
Underwater: Used for tasks like repairing offshore oil rigs, scientific research.
Military: Used for bomb disposal, surveillance, transportation in hostile areas.
Agricultural: Used for tasks like seeding, fertilizing, crop monitoring etc.
Entertainment: Used for education, art, music etc.
Domestic: Used for vacuuming, mopping floors, lawn mowing
The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.
The document provides an introduction to robotics, including definitions of key terms:
- A robot is an automatically controlled, reprogrammable device designed to perform tasks normally done by humans.
- Robots are classified based on their drive technology, work envelope/coordinate geometry, and motion control methods.
- Robotic systems have components like manipulators, end effectors, actuators, sensors, controllers, and software to allow various applications in manufacturing and other industries.
The document provides a summary of Samuel Narcisse's project portfolio including control systems, software, robotics and other projects. It lists over 30 projects spanning areas like simulation and control of propellers, face recognition, path planning for robotic arms, delta robot control, coding games, aircraft autopilot software, parallel cable robots, mechanical design, mobile robots, adjustable chairs, volunteering, internships, multicopters, helicopters, sensor fusion, water plant systems and more. For each project, it provides a brief 1-3 sentence description of the goals and scope.
A SMART VOICE CONTROLLED PICK AND PLACE ROBOT.pdfAakash Sheelvant
This document describes a smart voice controlled pick and place robot. It discusses the design of a robotic arm with improved accuracy using servos to power the arm joints. The robot is a mobile application robot that can be controlled via a mobile app or voice commands to navigate and perform pick and place tasks. It uses an Arduino microcontroller, servo motors, DC motors, Bluetooth and other hardware. The robot is intended to help disabled people perform daily tasks independently through voice control.
A SMART VOICE CONTROLLED PICK AND PLACE ROBOTIRJET Journal
This document describes a smart voice controlled pick and place robot. It discusses the design of a robotic arm using servos for improved accuracy in pick and place operations. The robot is mobile and can be controlled through voice commands to navigate and perform tasks like selecting objects from a cupboard. It uses an Arduino, servos, DC motors, Bluetooth and other hardware. The system is intended to help disabled people perform daily tasks more easily through voice control of the mobile robot.
This presentation provides an overview of microcontrollers and robotics. It discusses the PIC18F4520 microcontroller, including its architecture, features, and programming. Examples are provided of programming LED patterns, 7-segment displays, PWM, and timers using assembly and C languages. Robotics concepts covered include locomotion systems, power supplies, actuators, and control systems. Static and dynamic stability in legged robot locomotion are also explained.
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
Two guest lectures about motion planning in the course S2016 ECE 486: Robot Dynamics and Control, Spring 2016, Electrical and Computer Engineering Department, University of Waterloo. Useful Resources: - Open source libraries: http://ompl.kavrakilab.org/ http://wiki.ros.org/motion_planners http://moveit.ros.org/ - Book: Steven M. LaValle, Planning Algorithm. Available at: http://planning.cs.uiuc.edu/, last accessed, July 12, 2016
This program teaches students the skills needed to work as a robotics software engineer. It covers topics like C++, ROS, Gazebo, localization, mapping, SLAM, navigation, and path planning. The program consists of 6 courses and 5 hands-on projects. Students will learn to build autonomous robot simulations and programs. The estimated time to complete is 4 months at 10-15 hours per week. Technical mentors are available to provide support and guidance.
In terms of robotic movement capabilities, there are several common robotic configurations: vertically articulated, cartesian, SCARA, cylindrical, polar and delta.
EuRoC aims at sharpening the focus of European manufacturing through a number of application experiments, while adopting an innovative approach which ensures comparative performance evaluation.
Understanding Catalytic Converter Theft:
What is a Catalytic Converter?: Learn about the function of catalytic converters in vehicles and why they are targeted by thieves.
Why are They Stolen?: Discover the valuable metals inside catalytic converters (such as platinum, palladium, and rhodium) that make them attractive to criminals.
Steps to Prevent Catalytic Converter Theft:
Parking Strategies: Tips on where and how to park your vehicle to reduce the risk of theft, such as parking in well-lit areas or secure garages.
Protective Devices: Overview of various anti-theft devices available, including catalytic converter locks, shields, and alarms.
Etching and Marking: The benefits of etching your vehicle’s VIN on the catalytic converter or using a catalytic converter marking kit to make it traceable and less appealing to thieves.
Surveillance and Monitoring: Recommendations for using security cameras and motion-sensor lights to deter thieves.
Statistics and Insights:
Theft Rates by Borough: Analysis of data to determine which borough in NYC experiences the highest rate of catalytic converter thefts.
Recent Trends: Current trends and patterns in catalytic converter thefts to help you stay aware of emerging hotspots and tactics used by thieves.
Benefits of This Presentation:
Awareness: Increase your awareness about catalytic converter theft and its impact on vehicle owners.
Practical Tips: Gain actionable insights and tips to effectively prevent catalytic converter theft.
Local Insights: Understand the specific risks in different NYC boroughs, helping you take targeted preventive measures.
This presentation aims to equip you with the knowledge and tools needed to protect your vehicle from catalytic converter theft, ensuring you are prepared and proactive in safeguarding your property.
This document provides an introduction to robotics, including definitions, classifications of robots, robot coordinates, work volumes, reference frames, applications, and end effectors. It discusses the difference between automation and robots, defines key robotics terminology, and outlines Isaac Asimov's three laws of robotics. Examples of ideal robot tasks are given, along with a timeline of important developments in robotics history. Common robot configurations, work envelopes, and wrist motions are described. The document also covers robot programming, control methods, actuators, sensors, performance measures, and different types of end effectors including mechanical grippers and gripper mechanisms.
ROBOTICS-ROBOT KINEMATICS AND ROBOT PROGRAMMINGTAMILMECHKIT
Forward Kinematics, Inverse Kinematics and Difference; Forward Kinematics and Reverse Kinematics of manipulators with Two, Three Degrees of Freedom (in 2 Dimension), Four Degrees of freedom (in 3 Dimension) Jacobians, Velocity and Forces-Manipulator Dynamics, Trajectory Generator, Manipulator Mechanism Design-Derivations and problems. Lead through Programming, Robot programming Languages-VAL Programming-Motion Commands, Sensor Commands, End Effector commands and simple Programs
This document provides an introduction and overview of robotics. It discusses the timeline of important developments in robotics from the 1920s to the 1990s. It then covers classifications of robots, definitions of robots, common robot configurations and their work envelopes, robot components like end effectors and actuators, and different methods of robot programming including teach pendants and programming languages.
The document provides information about components, operating modes, programming, and calibration of industrial robots. It discusses the major components of robots including the manipulator, controller, end-effector, and man-machine interface. It describes the operating modes of robots as manual, manual 100%, and automatic. The document also covers basic robot programming using the RAPID language and common instructions. It discusses calibration procedures such as updating revolution counters and motor calibration values.
This document summarizes a presentation on the design and implementation of a low-cost articulated robot with an automatic tool changer (ATC) and computer vision (CV). The presentation was given by three students to review their project, which focuses on developing a robotic arm with a coupling mechanism to change tools in the end effector. Work done so far includes confirming the coupling mechanism, finalizing the architecture and components. Upcoming work includes building the mechanical structure, implementing the circuitry and coupling mechanism, and developing the kinematic movements and software. The project aims to optimize performance and versatility in tool swapping tasks.
Development of an autonomous vehicle dispatch system with a robot used as prototype to a user who interacts with our system via an android App. The robot nearest to our user is dispatched to the user to increase time and fuel efficiency.
The document discusses industrial robot applications and programming. It describes how robots are used for material handling, assembly, processing and inspection operations that are hazardous, repetitive or difficult for humans. It then covers various types of material handling applications including pick and place, palletizing, machine loading/unloading and stacking operations. The document also discusses robot programming methods, languages, accuracy, repeatability and resolution.
This document provides an introduction and overview of robotics. It discusses the timeline of robotics development. It describes different types of robots based on their classification and configuration. It also covers robot components like manipulators, end effectors, actuators, sensors, and controllers. The document discusses robot programming methods, reference frames, work envelopes, and control methods.
Help humans in daily tasks like serving food, cleaning etc.
Industrial: Used in manufacturing for tasks like welding, assembly etc.
Surgical: Used in minimally invasive surgeries with greater precision.
Space: Used for space exploration, planetary rovers, satellite repair etc.
Underwater: Used for tasks like repairing offshore oil rigs, scientific research.
Military: Used for bomb disposal, surveillance, transportation in hostile areas.
Agricultural: Used for tasks like seeding, fertilizing, crop monitoring etc.
Entertainment: Used for education, art, music etc.
Domestic: Used for vacuuming, mopping floors, lawn mowing
The document provides an introduction to robot technology, including definitions and terminology. It defines a robot as an electro-mechanical device with multiple degrees of freedom that is programmable to perform tasks. Industrial robots are designed to handle materials, parts, tools or devices through variable programmed motions. The study of robotics is interdisciplinary, involving mechanical, electrical, electronic and computer engineering. Robotic systems consist of manipulators, drive systems, controls, end effectors, sensors and software. Different robot configurations include Cartesian, cylindrical, spherical and articulated designs. Selection of robots depends on factors like size, degrees of freedom, velocity, precision and load capacity.
The document provides an introduction to robotics, including definitions of key terms:
- A robot is an automatically controlled, reprogrammable device designed to perform tasks normally done by humans.
- Robots are classified based on their drive technology, work envelope/coordinate geometry, and motion control methods.
- Robotic systems have components like manipulators, end effectors, actuators, sensors, controllers, and software to allow various applications in manufacturing and other industries.
The document provides a summary of Samuel Narcisse's project portfolio including control systems, software, robotics and other projects. It lists over 30 projects spanning areas like simulation and control of propellers, face recognition, path planning for robotic arms, delta robot control, coding games, aircraft autopilot software, parallel cable robots, mechanical design, mobile robots, adjustable chairs, volunteering, internships, multicopters, helicopters, sensor fusion, water plant systems and more. For each project, it provides a brief 1-3 sentence description of the goals and scope.
A SMART VOICE CONTROLLED PICK AND PLACE ROBOT.pdfAakash Sheelvant
This document describes a smart voice controlled pick and place robot. It discusses the design of a robotic arm with improved accuracy using servos to power the arm joints. The robot is a mobile application robot that can be controlled via a mobile app or voice commands to navigate and perform pick and place tasks. It uses an Arduino microcontroller, servo motors, DC motors, Bluetooth and other hardware. The robot is intended to help disabled people perform daily tasks independently through voice control.
A SMART VOICE CONTROLLED PICK AND PLACE ROBOTIRJET Journal
This document describes a smart voice controlled pick and place robot. It discusses the design of a robotic arm using servos for improved accuracy in pick and place operations. The robot is mobile and can be controlled through voice commands to navigate and perform tasks like selecting objects from a cupboard. It uses an Arduino, servos, DC motors, Bluetooth and other hardware. The system is intended to help disabled people perform daily tasks more easily through voice control of the mobile robot.
This presentation provides an overview of microcontrollers and robotics. It discusses the PIC18F4520 microcontroller, including its architecture, features, and programming. Examples are provided of programming LED patterns, 7-segment displays, PWM, and timers using assembly and C languages. Robotics concepts covered include locomotion systems, power supplies, actuators, and control systems. Static and dynamic stability in legged robot locomotion are also explained.
Methods of robot programming
Leadthrough programming methods
A robot program as a path in space
Motion interpolation
WAIT, SIGNAL and DELAY commands
Branching
Two guest lectures about motion planning in the course S2016 ECE 486: Robot Dynamics and Control, Spring 2016, Electrical and Computer Engineering Department, University of Waterloo. Useful Resources: - Open source libraries: http://ompl.kavrakilab.org/ http://wiki.ros.org/motion_planners http://moveit.ros.org/ - Book: Steven M. LaValle, Planning Algorithm. Available at: http://planning.cs.uiuc.edu/, last accessed, July 12, 2016
This program teaches students the skills needed to work as a robotics software engineer. It covers topics like C++, ROS, Gazebo, localization, mapping, SLAM, navigation, and path planning. The program consists of 6 courses and 5 hands-on projects. Students will learn to build autonomous robot simulations and programs. The estimated time to complete is 4 months at 10-15 hours per week. Technical mentors are available to provide support and guidance.
In terms of robotic movement capabilities, there are several common robotic configurations: vertically articulated, cartesian, SCARA, cylindrical, polar and delta.
EuRoC aims at sharpening the focus of European manufacturing through a number of application experiments, while adopting an innovative approach which ensures comparative performance evaluation.
Understanding Catalytic Converter Theft:
What is a Catalytic Converter?: Learn about the function of catalytic converters in vehicles and why they are targeted by thieves.
Why are They Stolen?: Discover the valuable metals inside catalytic converters (such as platinum, palladium, and rhodium) that make them attractive to criminals.
Steps to Prevent Catalytic Converter Theft:
Parking Strategies: Tips on where and how to park your vehicle to reduce the risk of theft, such as parking in well-lit areas or secure garages.
Protective Devices: Overview of various anti-theft devices available, including catalytic converter locks, shields, and alarms.
Etching and Marking: The benefits of etching your vehicle’s VIN on the catalytic converter or using a catalytic converter marking kit to make it traceable and less appealing to thieves.
Surveillance and Monitoring: Recommendations for using security cameras and motion-sensor lights to deter thieves.
Statistics and Insights:
Theft Rates by Borough: Analysis of data to determine which borough in NYC experiences the highest rate of catalytic converter thefts.
Recent Trends: Current trends and patterns in catalytic converter thefts to help you stay aware of emerging hotspots and tactics used by thieves.
Benefits of This Presentation:
Awareness: Increase your awareness about catalytic converter theft and its impact on vehicle owners.
Practical Tips: Gain actionable insights and tips to effectively prevent catalytic converter theft.
Local Insights: Understand the specific risks in different NYC boroughs, helping you take targeted preventive measures.
This presentation aims to equip you with the knowledge and tools needed to protect your vehicle from catalytic converter theft, ensuring you are prepared and proactive in safeguarding your property.
Charging Fueling & Infrastructure (CFI) Program Resources by Cat PleinForth
Cat Plein, Development & Communications Director of Forth, gave this presentation at the Forth and Electrification Coalition CFI Grant Program - Overview and Technical Assistance webinar on June 12, 2024.
Implementing ELDs or Electronic Logging Devices is slowly but surely becoming the norm in fleet management. Why? Well, integrating ELDs and associated connected vehicle solutions like fleet tracking devices lets businesses and their in-house fleet managers reap several benefits. Check out the post below to learn more.
Welcome to ASP Cranes, your trusted partner for crane solutions in Raipur, Chhattisgarh! With years of experience and a commitment to excellence, we offer a comprehensive range of crane services tailored to meet your lifting and material handling needs.
At ASP Cranes, we understand the importance of reliable and efficient crane operations in various industries, from construction and manufacturing to logistics and infrastructure development. That's why we strive to deliver top-notch solutions that enhance productivity, safety, and cost-effectiveness for our clients.
Our services include:
Crane Rental: Whether you need a crawler crane for heavy lifting or a hydraulic crane for versatile operations, we have a diverse fleet of well-maintained cranes available for rent. Our rental options are flexible and can be customized to suit your project requirements.
Crane Sales: Looking to invest in a crane for your business? We offer a wide selection of new and used cranes from leading manufacturers, ensuring you find the perfect equipment to match your needs and budget.
Crane Maintenance and Repair: To ensure optimal performance and safety, regular maintenance and timely repairs are essential for cranes. Our team of skilled technicians provides comprehensive maintenance and repair services to keep your equipment running smoothly and minimize downtime.
Crane Operator Training: Proper training is crucial for safe and efficient crane operation. We offer specialized training programs conducted by certified instructors to equip operators with the skills and knowledge they need to handle cranes effectively.
Custom Solutions: We understand that every project is unique, which is why we offer custom crane solutions tailored to your specific requirements. Whether you need modifications, attachments, or specialized equipment, we can design and implement solutions that meet your needs.
At ASP Cranes, customer satisfaction is our top priority. We are dedicated to delivering reliable, cost-effective, and innovative crane solutions that exceed expectations. Contact us today to learn more about our services and how we can support your project in Raipur, Chhattisgarh, and beyond. Let ASP Cranes be your trusted partner for all your crane needs!
Expanding Access to Affordable At-Home EV Charging by Vanessa WarheitForth
Vanessa Warheit, Co-Founder of EV Charging for All, gave this presentation at the Forth Addressing The Challenges of Charging at Multi-Family Housing webinar on June 11, 2024.
Charging Fueling & Infrastructure (CFI) Program by Kevin MillerForth
Kevin Miller, Senior Advisor, Business Models of the Joint Office of Energy and Transportation gave this presentation at the Forth and Electrification Coalition CFI Grant Program - Overview and Technical Assistance webinar on June 12, 2024.
Charging and Fueling Infrastructure Grant: Round 2 by Brandt HertensteinForth
Brandt Hertenstein, Program Manager of the Electrification Coalition gave this presentation at the Forth and Electrification Coalition CFI Grant Program - Overview and Technical Assistance webinar on June 12, 2024.
EV Charging at MFH Properties by Whitaker JamiesonForth
Whitaker Jamieson, Senior Specialist at Forth, gave this presentation at the Forth Addressing The Challenges of Charging at Multi-Family Housing webinar on June 11, 2024.
EV Charging at Multifamily Properties by Kevin Donnelly
10 Programming in Robotics.ppt
1. ROBOTICS
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS
Robot Programming
2. Robot Programming
Content:
• Introduction
• On-line programming
• Concepts
• Teach-in
• Playback
• Sensor function
• Off-line programming
• What is an off-line programming?
• Arguments for an off-line programming
• Programming levels
• Summary
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 2
3. Introductory review
From the
definition:
The industrial robot is an automatically controlled
freely programmable, multifunctional manipulator
with three or more programmable axes, for
Industrial applications in either a
fixed or mobile platform, can be used.
Freely programmable: programmable movements
or auxiliary functions without physical
amendment to be changed.
Robot programming
On-Line Off-Line
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 3
4. Robot Programming
• Programming is the identification and
specification of a series of basic actions
which, when executed in the specified
order, achieve some specific task or
realize some specific process.
• Robot Programming is the defining of
desired motions so that the robot may
perform them without human intervention.
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 4
5. Review: Some Definitions
• DoF: The degrees of freedom [degrees of
mobility] of the robot will be numbered as
q1, q2, q3 etc.
– Usually industrial robot arms have between 4
and 6 degrees of freedom, one at each joint.
• End-effector: The end of the robot arm,
where the gripper or other tool that the
robots uses is located, we will define as
the end-point (Pe) of the robot.
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 5
6. If, for example, the robot has a two finger gripper, to
pick things up with, we usually define Pe to be a point
between the two fingers, so that when this point is
geometrically inside some object to be picked up, all
the robot has to do is to close the fingers of its
gripper to grasp the object. It can then move away
with the object between its fingers.
Pe
6
7. Pose: both the position of Pe in space, and
its orientation
– It is not sufficient for Pe just to be defined as
a point, we also need to attach or
(conceptually) fix a coordinate system to it,
so that we can define both the position of Pe
in space, and its orientation (together they
define the object pose).
Pe
7
8. Base Frame: The position and
orientation of Pe must be defined
with respect to some global
frame of reference, some global
coordinate system. For this we
usually use a frame of reference
fixed to the base of the robot,
which should not move.
– NOTE: The position and orientation
of Pe in the work space of the robot
are determined by the values of
the joint positions of the arm—q1,
q2, q3,etc.
8
9. Configuration: Any particular
position and orientation of Pe in
space, and so any particular set
of joint values, is called a
configuration of the robot arm.
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 9
10. Robot Programming Revisited
• Robot Programming is the defining of
desired motions so that the robot may
perform them without human intervention.
– identifying and specifying the robot
configurations (i.e. the pose of the end-
effector, Pe, with respect to the base-frame)
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 10
11. Introductory review
From the
definition:
The industrial robot is an automatically controlled
freely programmable, multifunctional manipulator
with three or more programmable axes, for
Industrial applications in either a
fixed or mobile platform, can be used.
Freely programmable: programmable movements
or auxiliary functions without physical
amendment to be changed.
Robot programming
On-Line Off-Line
TEMPUS IV Project: 158644 – JPCR
Development of Regional Interdisciplinary Mechatronic Studies - DRIMS
ROBOTICS 11
12. Robot Programming Methods
• Offline:
– write a program using a text-based robot programming language
– does not need access to the robot until its final testing and
implementation
• On-line:
– Use the robot to generate the program
• Teaching/guiding the robot through a sequence of motions that can
them be executed repeatedly
• Combination Programming:
– Often programming is a combination of on-line and off-line
• on-line to teach locations in space
• off-line to define the task or “sequence of operations"
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13. On-Line/Lead Through
• Advantage:
– Easy
– No special programming skills or training
• Disadvantages:
– not practical for large or heavy robots
– High accuracy and straight-line movements are difficult to
achieve, as are any other kind of geometrically defined
trajectory, such as circular arcs, etc.
– difficult to edit out unwanted operator moves
– difficult to incorporate external sensor data
– Synchronization with other machines or equipment in the work
cell is difficult
– A large amount of memory is required
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15. Teach-In
Task: transfer of appropriate programs in the robot controller
The robot is along certain trajectories through the two conducted manually with
the both the robot and its movement and other devices in the robot cell monitored
closely.
Teach-in Process:
Teach
Starting from
points
and save
Edit
Addition of
Commands for the
Automatic operation
Control
Gradually,
Next,
backward
Correct
Starting from
points
and again
save
Perform
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16. Teach pendant
PHG-types to a Teach-In program:
Features:
- To enable long cable to a good view
- Emergency stop switch
- Enabling switch
- Selection of TCP (Tool Center Point) function
- Selection of the coordinate
- Range of motion mode
- Selection of the speed of movement
- Status Display
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Keyboard Function keys
16
17. Control Equipment
Types of robot-Program:
Editing on a CNC robot
controlled by buttons and
a built-in display
Editing by a keyboard
and an LCD display
on PHG
Editing by a keyboard
and LCD display
Source: RIKO
Source: ABB
Source: Stäubli
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18. Teach-in coordinate systems
JOINT WORLD TOOL FREE
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19. On-Line/Teach Box
• Advantage:
– Easy
– No special programming skills or training
– Can specify other conditions on robot
movements (type of trajectory to use – line,
arc)
• Disadvantages:
– Potential dangerous (motors are on)
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21. On-Line Programming
• Requires access to the robot
• Programs exist only in the memory of
robot control system – often difficult to
transfer, document, maintain, modify
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22. Pose Programming
Abstract task:
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• Enter the "TCP" data
• Selection of the "Joint" coordinates
• Rotation of axes 1, 2 and 3 to pose a
• Choosing the "World or tool” coordinates
• Align the tool with "Roll, Pitch, Yaw Movement
• Switch to "Step or Slow Motion
Pose, exact position and orient
• Pose 1 save
- Poses are always stored in set-point (position
and orientation)
• Motion in Cartesian coordinates to pose 2
• Pose, position them and orient
• Pose 2 save
• Movement in the "wait-and-home" position
22
23. Programming functions and signal
Example of a program on a very simple but defined robot!
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Robot program Explanation
23
-Determination of the total velocity in mm / s and degree / s
- Determination of the acceleration factor
- Determination of the TCPs in mm (X, Y, Z, R, P, Y)
- Determination of the rate in % overall speed
- Bringing the Pose 1 for X, Y, Z
-
Motion in Cartesian coordinates to Pose 1
-
Determination of the pendulum motion during welding
- Welding start (signal to welding device)
- A straight weld line to pull Pose 2
- Welding End
-
Move away from Pose 2 for X, Y, Z
- Movement in joint coordinates to the home position
24. Programming Languages
Almost every robot has its own programming language!
Control independent language:
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25. Play-Back Programming
- The operator uses the robot (or a device driver) directly.
- He leads the mechanism manually the task accordingly.
- During the movement the respective joint angle values can be read in a fixed
time frame and stored.
Requirements:
- Kinematic balance
- Low friction in the joints
- Very high flexibility of
movement
Advantages:
- Very easy programming
- No prior knowledge of the
operator necessary
Disadvantages:
- Correction in difficult sections
of path
- Difficult change of velocity
Source: ABB
Source: Gorenje
Primarily for the coating or glue-robot 25
26. Task of the sensors
Approach to the programming ease, flexibility and versatility
Important role SENSORS
- Searching for objects or poses
Parts on an assembly line, seam beginning, seam edge, plate boundary, installation help ...
- Tracking contours or litigation
Seam tracking, editing, with constant force (brushes, polishing, grinding, ...)
Bending process pursue prosecution of Machine removal of parts ...
- Velocity fitting
Teaching at a standstill, performing the move (coating on the assembly line, ...)
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27. Off-Line Programming
Why Off-Line Programming?
When?
What is Off-Line Programming?
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28. What is Off-Line Programming?
Teach-in methods:
Satisfactory only when the time for teaching in
comparison to the production time is low.
The robot must be used instead for the
programming for the production.
Off-Line Programming:
The robot can work, while a new program is created.
Robot programs are independent of the singly or in total
produced in the production of industrial robots working.
Modern
robot:
These techniques are increasingly used in the industry.
-Advanced Robot Controllers
-Increase of the absolute pose accuracy
-Adaptation of sensor technologies
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29. Off-line Programming
• Programs can be developed without needing to use the robot
• The sequence of operations and robot movements can be optimized or
easily improved
• Previously developed and tested procedures and subroutines can be used
• External sensor data can be incorporated, though this typically makes the
programs more complicated, and so more difficult to modify and maintain
• Existing CAD data can be incorporated-the dimensions of parts and the
geometric relationships between them, for example.
• Programs can be tested and evaluated using simulation techniques, though
this can never remove the need to do final testing of the program using the
real robot
• Programs can more easily be maintained and modified
• Programs can more be easily properly documented and commented.
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31. Robot Program Development
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32. Robot Program Development Process
• Analyze and decompose the task into a series of
operations on the objects involved, and specify their
order.
• Identify and specify all the situations needed to program
all the movements and actions of the robot.
• Identify any types of repeated actions or operations and
specify them as subroutines with parameters.
• Design and develop the complete robot program and its
documentation.
• Test and debug the program using a simulator of the
robot and its work space.
• Test the program on the real robot.
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33. Via Points!
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34. Why Off-Line Programming?
•Teach-In - Time-consuming activity
- This increases with the complexity of the task
• Teaching reduces the cost
- Robots can not produce during the Teachers
• Robot in mass production
- Spot welding in automotive industry
- Does teach in new constitute a minimal effort
• Robots in small and medium production
- Programming time can be considerably-
- Useful introduction of off-line programming
• Increasing complexity of robot tasks
- Off-line programming can be very attractive
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35. Benefits of Off-Line Programming
1. Reduction of the robot operating time
2. Dislocation of both ends of the danger area of the robot
3. Single robot programming system
4. Integration of CAD / CAM systems
5. Simplification of complex tasks
6. Optimization of robot programs
7. Access control
8. Cycle time analysis
9. Verification of robot programs
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37. Now we can say:
• Off-line programming is a significant increase in
the productivity of the robot in the industry.
• The main arguments for Off-Line system is the
reduction of the overall robot use time by the
overlap of the robot-programming with the actual
robot work.
• There are universal off-line programming systems,
which allow the generation of robot program codes
accessible for almost any industrial robot. In order
to reduce their dependence start from a single
robot.
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38. Type of Robot Programming
• Joint level programming
– basic actions are positions (and possibly movements)
of the individual joints of the robot arm: joint angles in
the case of rotational joints and linear positions in the
case of linear or prismatic joints.
• Robot-level programming
– the basic actions are positions and orientations (and
perhaps trajectories) of Pe and the frame of reference
attached to it.
• High-level programming
– Object-level programming
– Task-level programming
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39. pick-up part-A by side-A1 and side-A3
move part-A to location-2
pick-up part-B by side-B1 and side-B3
put part-B on-top-off part-A
with side-A5 in-plane-with side-B6 and
with side-A1 in-plane-with side-B1 and
with side-A2 in-plane-with side-B2
Object Level Programming
• basic actions are operations to be
performed on the parts, or relationships
that must be established between parts
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40. paint-the car-body red
assemble the gear-box
Task Level Programming
• basic actions specified by the program are
complete tasks or subtasks
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