Robot programming introduction

1. Robot Programming - 1

2. Methods of Robot Programming
1. Leadthrough Programming
2. Textual robot languages
Leadthrough Programming methods:
1.Powered Leadthrough
2. Manual Leadthrough

3. Methods of defining positions in
space
1. Joint movements
2. x-y-z coordinate motions (also called
world coordinates)
3. Tool coordinate motions

4. Robot Languages
For ease of control of motions of
robots having different structures and
geometrical capabilities.

5. Classification
1. First generation language
* Provides off-line programming in
combination with the programming through robot
pendant teaching.
(E.g) VAL
* Branching, IP/OP interfacing and commands
leading to a sequence of movements of arm and
body, and opening and closing of the end –
effectors are possible.
* ON/OFF binary signals

6. Classification
2. Second Generation Language
* They are structured Programming languages performing
complex tasks.
* Complex motions can be generated.
* Handle both analog and digital signals besides the binary
signals.
* Force, torque, slip and other sensors can be incorporated on
the joints, wrist of gripper fingers.
* (E.g) VAL II, AML, RAIL, MCL, etc.,
* Today’s programming languages with all features including
knowledge- based programs some decision- making programs can be
kept in the robot’s memory to find some means of getting out of the
manufacturing.
* They have better interacting facilities with other computers.
Data processing, file management and keeping all the records of the
events happening in the work-cell can be done more efficiently.
3. World modeling and task – oriented object level language
* TIGHTEN THE NUT –Voice Control