Downloaded 277 times
Uploaded byAhmad Nawaz Alizai
Robot Programming
This document discusses robot programming methods. It describes leadthrough programming where the robot is taught motions by physically moving it through the required cycles. It also discusses using textual programming languages to enter commands into the robot controller. Additionally, it explains simulation and off-line programming where the program is prepared remotely and downloaded to the robot without using leadthrough methods. Finally, it provides examples of motion commands, interlock/sensor commands, and coordinate systems used in robot programming.
More Related Content
Robot Programming
- 1.
- 2.
- 3. Thinking about Programming Creatinga successful robot takes a team effort between humans and machines. Role of the Robot The robot follows the instructions it is given, thereby carrying out the plan.
- 4. Human/Machine Communication Because humansand robots don’t normally speak the same language, a special language must be used to translate the necessary instructions from human to robot. These human-to-robot languages are called programming languages. Instructions written in them are called programs.
- 5. Robot Programming • Leadthroughprogramming – Work cycle is taught to robot by moving the manipulator through the required motion cycle and simultaneously entering the program into controller memory for later playback • Robot programming languages – Textual programming language to enter commands into robot controller • Simulation and off-line programming – Program is prepared at a remote computer terminal and downloaded to robot controller for execution without need for leadthrough methods
- 6. Leadthrough Programming 1. Poweredleadthrough – Common for point-to- point robots – Uses teach pendant 2. Manual leadthrough – Convenient for continuous path control robots – Human programmer physical moves manipulator
- 7. Leadthrough Programming Advantages • Advantages: –Easily learned by shop personnel – Logical way to teach a robot – No computer programming • Disadvantages: – Downtime during programming – Limited programming logic capability – Not compatible with supervisory control
- 8. Robot Programming • Texturalprogramming languages • Enhanced sensor capabilities • Improved output capabilities to control external equipment • Program logic • Computations and data processing • Communications with supervisory computers
- 9. Coordinate Systems World coordinatesystem Tool coordinate system
- 10. Motion Commands MOVE P1 HEREP1 - used during lead through of manipulator MOVES P1 DMOVE(4, 125) APPROACH P1, 40 MM DEPART 40 MM DEFINE PATH123 = PATH(P1, P2, P3) MOVE PATH123 SPEED 75
- 11. Interlock and SensorCommands Interlock Commands WAIT 20, ON SIGNAL 10, ON SIGNAL 10, 6.0 REACT 25, SAFESTOP Gripper Commands OPEN CLOSE CLOSE 25 MM CLOSE 2.0 N
- 12.
- 13. Cont. • Program isprepared at a remote computer terminal and downloaded to robot controller for execution without need for leadthrough methods • It is carried with the help of different programming software using different programming languages like ROBOTC.
- 14.