Textual Robot programming
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The document discusses robot programming languages, distinguishing between first generation and second generation languages. First generation languages are limited in arithmetic operations and sensor usage, while second generation languages improve robot intelligence with structured programming. Key components include motion commands, speed control, and off-line programming that allows remote programming of robots.
Textual Robot programming
- 1. ROBOT PROGRAMMING (TEXTUAL ROBOT PROGRAMMING) 12/09/2014 1 By Paritosh Chougule
- 2. OFF-LINE PROGRAMMING Introduction • WAVE • Val(Victor’s Assembly Language) • VAL_2 Generations of languages First generation Second generation 12/09/2014 2
- 3. 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 12/09/2014 3
- 4. 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 12/09/2014 4
- 5. SECOND GENERATION LANGUAGE Structured programming languages Improved languages More capabilities to make the robot more intelligent E.g.. AML, RAIL, MCL & val-2 etc. 12/09/2014 5
- 6. Features of second generation programming Motion control Advanced sensor capabilities Limited intelligence Communication and data processing 12/09/2014 6
- 7. ROBOT LANGUAGE STRUCTURE Operating System Robot language elements and functions • Constants , variables and other data objects • Motion commands 12/09/2014 7
- 8. Motion Commands MOVE & Related statements MOVE P1 MOVES P1 MOVE A1 VIA A2 DMOVE(4, 125) APPRO P1, 40 MM DEPART 40 MM 12/09/2014 8
- 9. 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) 12/09/2014 9
- 10. Paths & Frames DEFINE PATH1 = PATH(P1, P2, P3) MOVE PATH1 DEFINE FRAME1=FRAME(A1.A2,A3) DEFINE ROUTE :FRAME 1=PATH(P1,P2,P3,P4,P5) MOVES ROUTE:FRAME1 Gripper Commands OPEN CLOSE CLOSE 25 MM CLOSE 2.0 N 12/09/2014 10
- 11. 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. 12/09/2014 11