Robot programming languages

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

7. VAL LANGUAGE
MOTION COMMANDS
MOVE and Related Statements
MOVE A1
MOVES A1
MOVE A1 VIA A2
APPRO A1,50
SIGNAL (to close gripper)
DEPART 50
DMOVE(1,10)
DMOVE(4,5,6), (30,-60,30)
MOVE ARM2 TO A1

8. VAL LANGUAGE
MOTION COMMANDS
SPEED control
SPEED 60 IPS
SPEED 75
Definition of Points in the workspace
HERE A1
DEFINE A1 = POINT {50.526,236.003,14.581,25.090,125.750}

9. VAL LANGUAGE
MOTION COMMANDS
SPEED control
Paths and Frames
DEFINE PATH1=PATH(A1,A2,A3,A4)
MOVE PATH1
MOVES PATH1
DEFINE FRAME=FRAME(A1,A2,A3)
DEFINE ROUTE:FRAME1=PATH(P1,P2,P3,P4,P5,P6,P7)
MOVES ROUTE:FRAME2
MOVES ROUTE:FRAME3
MOVES ROUTE:FRAME4
.
.
.
MOVES ROUTE:FRAME9

10. VAL LANGUAGE
END EFFECTOR AND SENSOR COMMANDS
End Effector operation
OPEN and CLOSE
OPENI and CLOSEI
CLOSE 40 MM or CLOSE 1.575 IN
CLOSE 3.0LB
CENTER
OERATE TOOL (SPEED=125RPM)
OERATE TOOL (TORQUE=5 IN LB)
OERATE TOOL (TIME=10 SEC)

11. VAL LANGUAGE
Sensor Operation
SIGNAL 3, ON
.
.
.
SIGNAL 3,OFF
SIGNAL 105, 4.5
WAIT 15, ON
WAIT 15, OFF
DEFINE MOTOR1=OUTPORT 5
DEFINE SENSR3=INPORT 15
SIGNAL MOTOR1, ON

12. VAL LANGUAGE
Sensor Operation
WAIT SENSR3, ON
.
.
.
SIGNAL MOTOR1, OFF
WAIT SENSR3, OFF
DEFINE VOLT1=OUTPORT 105
SIGNAL VOLT1
DEFINE VOLTS3=INPORT 115
WAIT VOLT3
REACT 17, SAFETY (PRIORITY 1)