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Textual Robot Programming

This document discusses robot programming languages. It describes first generation languages that used command statements and teach pendants to control motion at a basic level. Second generation languages introduced structured programming, more capabilities like advanced sensors, and limited intelligence. Examples of first generation languages included VAL, while second generation languages included AML, RAIL, and VAL-2. The document also outlines some common elements and functions of robot language like motion commands, speed control, defining points and frames, and gripper commands. It concludes by discussing off-line programming where programs can be written remotely and downloaded to the robot controller.

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thanh_cdt01
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774 views

Textual Robot Programming

This document discusses robot programming languages. It describes first generation languages that used command statements and teach pendants to control motion at a basic level. Second generation languages introduced structured programming, more capabilities like advanced sensors, and limited intelligence. Examples of first generation languages included VAL, while second generation languages included AML, RAIL, and VAL-2. The document also outlines some common elements and functions of robot language like motion commands, speed control, defining points and frames, and gripper commands. It concludes by discussing off-line programming where programs can be written remotely and downloaded to the robot controller.

Uploaded by

thanh_cdt01
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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ROBOT

PROGRAMMING

(TEXTUAL ROBOT PROGRAMMING)


By Paritosh Chougule

12/09/2014 1
OFF-LINE PROGRAMMING
 Introduction
• WAVE
• Val(Victor’s Assembly Language)
• VAL_2

 Generations of languages

 First generation
 Second generation

12/09/2014 2
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
 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
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
 Features of second generation
programming

 Motion control
 Advanced sensor capabilities
 Limited intelligence
 Communication and data processing

12/09/2014 6
ROBOT LANGUAGE STRUCTURE
 Operating System

 Robot language elements and functions

• Constants , variables and other data objects


• Motion commands

12/09/2014 7
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
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
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
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
THANK YOU

12/09/2014 12

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