textual robot programming
TRANSCRIPT
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