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    Leadthrough Programming and Motion Interpolation

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    yashbhoyar
    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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    Leadthrough Programming and Motion Interpolation

    Uploaded by

    yashbhoyar
    2K views18 pages
    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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    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    2K views18 pages

    Leadthrough Programming and Motion Interpolation

    Uploaded by

    yashbhoyar
    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.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as PPTX, PDF, TXT or read online from Scribd
    Download as pptx, pdf, or txt
    of 18
    At a glance
    Powered by AI
    The key takeaways are that there are different methods for robot programming including leadthrough programming and motion interpolation. Leadthrough programming involves teaching robots their work cycles through either powered or manual methods. Motion interpolation computes collision-free trajectories between configurations using techniques like joint, straight line, and circular interpolation.

    The two main types of leadthrough programming are powered leadthrough and manual leadthrough. Powered leadthrough uses a teach pendant to control joint motors, arms, and wrists to define points. Manual leadthrough is useful for defining continuous paths with complex curvilinear movements by dividing the motion into many individual points.

    The main types of motion interpolation are joint interpolation, straight line interpolation, circular interpolation, and irregular smooth motion. Joint interpolation moves each joint incrementally. Straight line interpolation computes a straight line path between points. Circular interpolation approximates a circle using a series of points. Irregular smooth motion divides a path with various segment types into a sequence of points.

    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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