ROBOT PROGRAMING

Robot Programming is the defining

of desired motions so that the robot
may perform them without human
intervention

Robot Programming
Revisited

Robot Programming is the

defining of desired motions so that
the robot may perform them without
human intervention.

1.MANUAL METHOD
2.WALKTHROUGH
METHODS OF ROBOT PROGRAMING:
METHOD
3.LEADTHROUGH
METHOD
4.OFF-LINE
PROGRAMMING

ROBOT PROGRAM
STRUCTURE
WORK PLANNING :

Work operations are planned in

the first stage of robot
programming .
general planning of the
production task and the
determination of robots role are
done in this stage.

 Description of the production process with flow

diagrams to specify the concrete working tasks
for the robot and other machines in the robot
system, including:
Decomposition of the working process and
definition of detailed working operations
definition of position
Definition of input and output signals
Composition of algorithm diagrams,
subroutines, routines and program modules for
a robot

CONTD
For robot programming the following software
objects are defined:
Program module:
Each program module contains data and
routines for a certain purpose. The program is
divided into modules mainly to enhance
overview and facilitate handling of the program.
Each module typically represents one particular
robot action or a similar one. All program
modules will be removed when deleting a
program from the controller program memory.
Program modules are usually written by the user.

CONTD
DATA:
Data are values and definitions set in
the program or system modules. The
data are refined to by the
instructions in the same module or in
a number of modules (availability
depending on data type).

CONTD
ROUTINE:
A routine contains set of instructions,
(i.e) defines what the robot system
actually does. routine may also
contain data required for the
instructions.

INSTRUCTIONS FOR MOTION

CONTROL AND POSITIONING:
Contain information about
positioning location, co-ordinates,
trajectory interpolation, tool motion
speed and time intervals (timers).

Motion Commands

Some of motion commands are:

MOVE P1
HERE P1 - 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

SENSOR COMMANDS
Instructions of program control:
Contain information about program
start and stop, branching and cycle
repeating , event counting and
program interruptions conditions.

SENSOR COMMANDS
Some of the sensor commands are:
WAIT 20, ON
SIGNAL 10, ON
SIGNAL 10, 6.0
REACT 25, SAFESTOP

Instructions for gripper or tool

control:
contain information about the gripper
closing and opening conditions,
sometimes about force control of tool
or gripper fingers.

Some of end effector commands are:

Gripper Commands
OPEN
CLOSE
CLOSE 25 MM
CLOSE 2.0 N

ROBOT
PROGRAMMING

Typically performed using one of

the following:
On line
teach pendant
lead through programming
Off line
robot programming languages
task level programming

Robot Programming
Methods

Offline:
write a program using a text-based
robot programming language
does not need access to the robot
until its final testing and
implementation
On-line:
Use the robot to generate the program
Teaching/guiding the robot through
a sequence of motions that can
them be executed repeatedly
Combination Programming:

Use of Teach
Pendant
Hand held device with switches
used to control the robot motions
End points are recorded in
controller memory
Sequentially played back to execute
robot actions
Trajectory determined by robot
controller
Suited for point to point control
applications

 Easy to use, no special programming

skills required
Useful when programming robots for
wide range of repetitive tasks for
long production runs
RAPID

Lead Through
Programming
lead the robot physically through
the required sequence of motions
trajectory and endpoints are
recorded, using a sampling routine
which records points at 60-80
times a second
when played back results in a
smooth continuous motion
large memory requirements

LEAD THROUGH
Advantage:
Easy
No special programming skills or
training
Disadvantages:
not practical for large or heavy robots
High accuracy and straight-line
movements are difficult to achieve, as
are any other kind of geometrically
defined trajectory, such as circular
arcs, etc.
difficult to edit out unwanted operator

Programming Languages
Motivation
need to interface robot control
system to external sensors, to
provide real time changes based
on sensory equipment
computing based on geometry of
environment
ability to interface with CAD/CAM
systems
meaningful task descriptions

 Large number of robot languages

available
AML, VAL, AL, RAIL, Robot Studio, etc.
(200+)
Each robot manufacturer has their own
robot programming language
No standards exist
Portability of programs virtually nonexistent

AML
AML- A Manufacturing Language.
MANUAL ROBOT CONTROL WITH
THE PENDANT:
On the Control Pendant the following
LED's should be ON:
ON LINE
POWER
MANUAL

RUNNING THE AML (A

Manufacturing Language)
PACKAGE.
Select a function:
1. Edit/Teach a program.
2. Compile a program.
3. Load a program to the
controller.
4. Unload a controller program.
5. Set system configuration.
6. Return to DOS.
Enter Option ===>

Valve control program using

AML
The pneumatic valves are controlled
by relays connected to the controller
digital outputs. These outputs can be
switched ON or OFF with the WRITEO
(write out) instruction. The object of
this exercise is to show how a
vacuum can be created in the gripper
and how the pneumatic valves are
controlled to blow air out of the
grippers using this instruction.

Edit the following program:

1 MAIN:SUBR;
2 ON:NEW 1; OFF:NEW 0;
3 TIME:NEW 0.5;
4 SWITCH_VALVE:SUBR(EVEN,ODD);
5 WRITEO(EVEN,ON); -- BLOW AIR OUT OF GRIPPER
6 DELAY(TIME);
7 WRITEO(EVEN,OFF);
8
9 WRITEO(ODD,ON); -- RESTORE VACUUM
10 DELAY(TIME);
11 WRITEO(ODD,OFF);
12 END;
13
14 GRASP; -- CREATE VACUUM IN ALL GRIPPERS
15
16 SWITCH_VALVE(4,3); -- BLOW AIR OUT OF GRIPPER 2
17 SWITCH_VALVE(6,5); -- " " " " " 3
18 SWITCH_VALVE(8,7); -- " " " " " 4
19
20 END;

2) Save the file on hard disc

3) Compile and load the program to
the controller
4) Switch on the power supply for the
valves
5) Switch on the air supply valve and
increase the pressure to 50 PSI.
6) Run the program