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    Robot Programming

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    Ramkumar A
    Robot programming involves defining desired motions for a robot to perform autonomously. There are typically four main methods: manual, walkthrough, leadthrough, and offline programming. Offline programming uses robot programming languages or task-level programming without needing robot access. Online methods use the robot to generate programs by teaching or guiding motions. Combination programming uses both online and offline techniques.

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    Robot Programming

    Uploaded by

    Ramkumar A
    324 views12 pages
    Robot programming involves defining desired motions for a robot to perform autonomously. There are typically four main methods: manual, walkthrough, leadthrough, and offline programming. Offline programming uses robot programming languages or task-level programming without needing robot access. Online methods use the robot to generate programs by teaching or guiding motions. Combination programming uses both online and offline techniques.

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    robot programming

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    Robot programming involves defining desired motions for a robot to perform autonomously. There are typically four main methods: manual, walkthrough, leadthrough, and offline programming. Offline programming uses robot programming languages or task-level programming without needing robot access. Online methods use the robot to generate programs by teaching or guiding motions. Combination programming uses both online and offline techniques.

    Copyright:

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

    Robot Programming

    Uploaded by

    Ramkumar A
    Robot programming involves defining desired motions for a robot to perform autonomously. There are typically four main methods: manual, walkthrough, leadthrough, and offline programming. Offline programming uses robot programming languages or task-level programming without needing robot access. Online methods use the robot to generate programs by teaching or guiding motions. Combination programming uses both online and offline techniques.

    Copyright:

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

    ROBOT PROGRAMMING

    Robot Programming Revisited


    Robot Programming is the defining of
    desired motions so that the robot may
    perform them without human intervention.
    identifying and specifying the robot configurations
    (i.e. the pose of the end-effector, Pe, with respect to
    the base-frame)

    1.MANUAL METHOD
    2.WALKTHROUGH METHOD
    3.LEADTHROUGH METHOD
    4.OFF-LINE PROGRAMMING
    ROBOT PROGRAMMING
    Typically performed using one of the
    following
    On line
    teach pendant
    lead through programming
    Off line
    robot programming languages
    task level programming
    Robot Programming Methods
    Offline:
    write a program using a text-based robot programming
    language
    does not need access to the robot until its final testing and
    implementation
    On-line:
    Use the robot to generate the program
    Teaching/guiding the robot through a sequence of motions that
    can them be executed repeatedly
    Combination Programming:
    Often programming is a combination of on-line and off-line
    on-line to teach locations in space
    off-line to define the task or sequence of operations"
    Use of Teach Pendant
    hand held device with switches used to
    control the robot motions
    End points are recorded in controller
    memory
    sequentially played back to execute robot
    actions
    trajectory determined by robot controller
    suited for point to point control
    applications
    Lead Through Programming
    lead the robot physically through the
    required sequence of motions
    trajectory and endpoints are recorded,
    using a sampling routine which records
    points at 60-80 times a second
    when played back results in a smooth
    continuous motion
    large memory requirements
    On-Line/Lead Through
    Advantage:
    Easy
    No special programming skills or training
    Disadvantages:
    not practical for large or heavy robots
    High accuracy and straight-line movements are difficult to
    achieve, as are any other kind of geometrically defined
    trajectory, such as circular arcs, etc.
    difficult to edit out unwanted operator moves
    difficult to incorporate external sensor data
    Synchronization with other machines or equipment in the
    work cell is difficult
    A large amount of memory is required
    On-Line Programming
    Requires access to the robot
    Programs exist only in the memory of robot
    control system often difficult to transfer,
    document, maintain, modify

    Easy to use, no special programming skills required


    Useful when programming robots for wide range of
    repetitive tasks for long production runs
    RAPID
    On-Line/Teach Box
    Advantage:
    Easy
    No special programming skills or training
    Can specify other conditions on robot movements
    (type of trajectory to use line, arc)
    Disadvantages:
    Potential dangerous (motors are on)
    Off-line Programming
    Programs can be developed without needing to use the robot
    The sequence of operations and robot movements can be optimized or
    easily improved
    Previously developed and tested procedures and subroutines can be
    used
    External sensor data can be incorporated, though this typically makes
    the programs more complicated, and so more difficult to modify and
    maintain
    Existing CAD data can be incorporated-the dimensions of parts and the
    geometric relationships between them, for example.
    Programs can be tested and evaluated using simulation techniques,
    though this can never remove the need to do final testing of the
    program using the real robot
    Programs can more easily be maintained and modified
    Programs can more be easily properly documented and commented.

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