ROBOT PROGRAMMING

(TEXTUAL ROBOT PROGRAMMING)

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By Paritosh Chougule

OFF-LINE PROGRAMMING

Introduction• WAVE

• Val(Victor’s Assembly Language)

• VAL_2

Generations of languages

First generation

Second generation

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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

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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

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SECOND GENERATION LANGUAGE

Structured programming languages

Improved languages

More capabilities to make the

robot more intelligent

E.g.. AML, RAIL, MCL & val-2 etc.

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Features of second generation programming

Motion control

Advanced sensor capabilities

Limited intelligence

Communication and data processing

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ROBOT LANGUAGE STRUCTURE

Operating System

Robot language elements and functions

• Constants , variables and other data objects

• Motion commands

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Motion Commands

MOVE & Related statements

MOVE P1

MOVES P1

MOVE A1 VIA A2

DMOVE(4, 125)

APPRO P1, 40 MM

DEPART 40 MM

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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)

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Paths & FramesDEFINE PATH1 = PATH(P1, P2, P3)MOVE PATH1DEFINE FRAME1=FRAME(A1.A2,A3)DEFINE ROUTE :FRAME 1=PATH(P1,P2,P3,P4,P5)MOVES ROUTE:FRAME1

Gripper CommandsOPEN CLOSECLOSE 25 MMCLOSE 2.0 N

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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.

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THANK YOU