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Leadthrough Programming and Motion Interpolation

This document discusses leadthrough programming and motion interpolation for industrial robots. Leadthrough programming involves manually moving the robot arm to define motion paths. There are two main types: powered leadthrough uses a teach pendant to control joints and movements, while manual leadthrough divides motions into thousands of points for complex paths. Motion interpolation computes collision-free trajectories between configurations. Types of interpolation include joint interpolation, straight line interpolation, circular interpolation, and irregular smooth motions along closely spaced points.

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yashbhoyar
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2K views

Leadthrough Programming and Motion Interpolation

This document discusses leadthrough programming and motion interpolation for industrial robots. Leadthrough programming involves manually moving the robot arm to define motion paths. There are two main types: powered leadthrough uses a teach pendant to control joints and movements, while manual leadthrough divides motions into thousands of points for complex paths. Motion interpolation computes collision-free trajectories between configurations. Types of interpolation include joint interpolation, straight line interpolation, circular interpolation, and irregular smooth motions along closely spaced points.

Uploaded by

yashbhoyar
Copyright
© Attribution Non-Commercial (BY-NC)
Available Formats
Download as PPTX, PDF, TXT or read online on Scribd
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STUDY ON

LEADTHROUGH PROGRAMMING AND MOTION INTERPOLATION

Presented by :
YASH R. BHOYAR Roll No-14 M.Tech(CAD/CAM),2nd sem

Objective

It involves activities such as, Defining the motion paths Sensory information Actuating the end effector Sending signals

Receiving data Making decision

Leadthrough Programming Introduction

Robot programming is concerned with teaching the robot its work cycle. The leadthrough methods are sometimes referred to as teach-byshowingmethod.

It represent the First real programming methods used in industry.

Types
1.

Powered leadthrough Manual leadthrough

2.

Powered leadthrough
It makes use of a teach pendant to control various joint motors,arm and wrist Teach pendant usually a small handheld control box with toggle switches,dials and buttons.,shown in fig. It used to power drive and regulate robots movement

Fig: teach Pendant

These is most common today for programming It is largely limited to point-to-point motions rather than continuous movement These inlude part transfer tasks, machine loading and unloading,and spot welding

Manual leadthrough

Is usefull for defining continuous path,where the motion involves smooth complex curvilinear movements The motion cycle is divided into hundreds or even thousands of individual points It used in spray painting and

Motion interpolation Introduction

we address the problem of computing a collision-free interpolating motion between free-space configurations

The goal is to compute a trajectory that is less likely to intersect with any obstacles in the configuration space

Types

Joint interpolation Straight line interpolation Circular interpolation

Irregular smooth motions

Joint interpolation
The controller determines how far each joint must move to get first joint It determines the time it will take to complete the move For example,the move from point 1,1 to point 7,4 in grid which shown in figure then,joint 1must move six increment & joint 2 must move three increment

Straight line interpolation


It is different from joint interpolation The robot controller computes straight line path between two points then,develops sequence of addressable points along path

Circular interpolation
It requiers the programmer to define a circle in the robots workspace Controller contruct an approximate of circle by selecting series of addressable point The movements of robot actually consist of short-straight-line segment It is more readily programmed using textual programming language

Irregular smooth motion

In these motion Segments are something stright, sometimes curved and sometimes back-and-forth motions Motion path is divided into sequence of closely spaced points It used in spray painting or arc welding

References
A. M. AL-Qasimi,M. Akyurt and F. M. Dehlawi,on robot programming and languages,Nov 1995 M. P. Groover,M. Weiss,R. N. Nagel,N. G. Odrey,Industrial Robotics;technology,programming,and applications,McGraw-Hill,1986

THANK YOU

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