Scribd Logo
Upload

Welcome to Scribd!

  • 717 views

    Textual Robot Programming

    Uploaded by

    thanh_cdt01
    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    Textual Robot Programming

    Uploaded by

    thanh_cdt01
    717 views12 pages
    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.

    Original Description:

    Textual Robot Programming

    Copyright

    © © All Rights Reserved

    Available Formats

    PDF, TXT or read online from Scribd

    Did you find this document useful?

    Is this content inappropriate?

    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    717 views12 pages

    Textual Robot Programming

    Uploaded by

    thanh_cdt01
    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.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 12

    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

    You might also like