Robot

Programming

Unit-4
Robot Programming

◼ Robot Programming is 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)
Robot programming
◼ A robot must be programmed to do useful works and
perform its tasks – a robot is an idiot waiting for you to
make it work by the use of programming.
◼ Robot program is defined as a path of movements of its
manipulator, combined with peripheral equipment
actions to support its work cycle.
◼ The peripheral equipment actions include
– Operation of the end-effector.
– Making logical decisions.
– Communicating with environments.
◼ A robot programmer needs to understand the whole task
and interfaces with its environment before he/she starts
a programming.
Type of Robot Programming
◼ Joint level programming
– basic actions are positions (and possibly
movements) of the individual joints of the robot
arm: joint angles in the case of rotational joints
and linear positions in the case of linear or
prismatic joints.
◼ Robot-level programming
– the basic actions are positions and orientations
(and perhaps trajectories) of Pe and the frame of
reference attached to it.
◼ High-level programming
– Object-level programming
– Task-level programming
Robot programming method
1. Walk-through method OR Manual (limited-sequence
robots)
2. Lead-through method (teach-by-showing the desired
motion ‘ Manual and Powered’ – adequate for shop floor
operators)
3. Computer like robot programming languages or
textual language (requires computer background,
enhanced sensor capabilities, improved control,
computation capabilities, communications, compatibility
with CIM)
4. Off-Line programming ( doesn’t interrupt production)
5. Robot Simulation
Walk-through method
•A person doing the programming has physical
contacts with the robot arm, actually gains control and
walks the robot's arm through the desired positions.
•Each movement is recorded into the memory for the
playback during production, including unintended
motions.
•The main concern is on achieving the correct
positioning sequences. Cycle time and speed can be
changed later, when necessary
•A dead man’s control should be fitted for the safety
reason.
•A high precision in generating paths cannot be achieved
(Manual operation) - Highly skilled operator required.
•Optimum trajectory velocity cannot be achieved
•Movements are stored in the sampled time - required large
memory.
•Mainly used in spray painting, arc welding,
grinding, deburring and polishing
Lead-through method (teach-
pendant programming)
•Teaching the robot via teach pendants
that has toggle switches or contact buttons
for controlling the movement of the robot.
•Allows a trained operator physically to
lead the robot through the desired
sequence of events by activating the
appropriate pendant buttons or switches.
•Position data and functional information
are "taught" to the robot, and a new
program is written into memory
•The speed and termination type of the
movement should be specified
•Particularly useful in pick-place, arc
welding applications.
Lead-through Programming : Powered
◼ Each axis is moved under push-button control
using a “teach” pendant to produce a series of
desired position of the end point. Typical
command keys:
JOG HOME TEACH MOVE
◼ The corresponding series of joint positions or
points are stored for playback later during actual
operation.
◼ Suitable for PTP control only since paths between
two consecutive positions are not predictable.
Lead-through Programming : Manual

◼ The entire path is “taught” by manually moving

through the motion sequence. The measured
positions of the joints and speeds (how?) are
recorded as editable programs for later playback
during actual operation.

◼ For large robot, a special programming device

replaces the actual robot.

◼ Used for Continuous Path programming . A

typical application of this programming method is
spray painting where smooth and free flowing
movements are required.
Computer like Robot Programming
Languages :
Basic Elements
◼ Define Constants and Variables
◼ Motion commands (coordinate systems)
◼ End Effectors Commands
◼ Sensor Commands
◼ Program Control Commands
◼ Communications Commands
◼ Monitor Mode Commands
Off-Line programming
◼ The programming for the
required sequence of functions
and positions is written on a
remote computer console. Then
transfer to the robot controller
(floppy disk or downloading).

◼ The robot programming

language is to make it easy for
this purpose (ADA, RAPID, ...).
Robot Simulation

◼ Off-line programming can provide a means of

programming without interruption of actual production
◼ However, it would cause unintended movement and in turn
serious problems – collision, or injuries
◼ Simulation enables to test new or modified programs in
virtual environment or even test a new manufacturing cell
before the construction.
 Robot Programming Languages
◼ WAVE
– Developed at Standford
– Demonstrated a robot hand-eye coordination in the
machine vision robot
– Trajectory calculations through coordination of joint
movements, end-effector positions and touch sensing
– Algorithm is too complex and not user friendly
◼ AL
– Later developed at Standford
– The language can implement various subroutines,
involving activities between the robot and its
surroundings.
Robot Programming Languages
◼ VAL
– Popular textual robot language developed by
Unimation Inc. for the PUMA series of robots.
– Victor Sheinman developed VAL languages.
– Later VAL II is developed
– It provides arm movement in joint, world and tool
coordinates, gripping and speed control.
◼ AML
– Developed by IBM
– It is possible to interface other programming
languages.
Robot Programming Languages
◼ MCL
– Developed by McDonnel-Douglas at US Air force
– Modification of APT (Automatically programmed
Tooling) languages used for CNC

◼ RAIL
– Developed by Automatix for robotic assembly,
inspection, arc welding and machine vision
– A variety of data types as used in PASCAL can be
used
Robot Programming Languages
◼ HELP
– Developed by General Electric Company
– It has capability to control two robot arms at the
same time
◼ JARS
– Developed by NASA’s JPL.
– The base language is PASCAL
– It can be interfaced with PUMA 6000 robot
◼ RPL
– Developed by SRI international.
– The basic ideas of LISP language have been
organized into a FORTRAN – like syntax
– It can be interfaced with PUMA 500 robot
 Classification of Robot Languages
◼ First generation language
– It provides an off-line programming in combination with the
programming through robot pendant teaching.
– Example : VAL language
– The capability of a first generation language is limited to the
handling of sensory data (except ON/OFF binary signals) and
combination with other computer
◼ Second generation language
– AML, RAIL, MCL, VAL II languages
– They are structured programming languages performing
complex tasks
– Force, torque, slip and other sensor can be incorporated in
joints
◼ World modelling and task-oriented object level languages
– A task is defined through a command, say TIGHTEN THE NUT.
– The robot should be capable of performing step by step
functions to accomplish the objective of tightening the nut.
 VAL programming language
◼ Defining and Determining Locations
– HERE : current location
– HERE PART
– HERE P1
– POINT : previously defined location
– POINT PART = P1
– WHERE : the current location can be
displayed
– TEACH : records a series of location values
– TEACH P1
VAL programming language

◼ Editing programs
– EDIT : permits to create or modify (edit) a
user program
• EDIT SRD
.
.
.
E - exit of the editing mode
VAL programming language
◼ Storing and Retrieving Program and
Location-data
– LISTF : displays the file directory of the diskette
– STOREP : storing program
– STOREL : storing location
– STORE : storing program and location
– LOADP : loading program
– LOADL : loading location
– LOAD : loading program and location
– COPY : copying the program
– RENAME : renaming the files
– DELETE : deleting the files
– In VAL II language
• FLIST – listing the file names kept on a disk
VAL programming language
◼ Program Control
– SPEED : specifies the speed for all subsequent robot
motions under program control
– EXECUTE : execute a specified user program for once
– EXECUTE , 5: execute 5 times
– EXECUTE, -1 : execute indefinitely
– ABORT : terminates program execution after completion of
the current step
– In VAL II language
• DRIVE 2, 60, 30 : joint number 2 may be changed by
driving it say 600 at a speed of 30 percent of the monitor
speed
• DO : allows a robot to execute a program instruction
DO ALIGN
DO MOVE PART
VAL programming language

◼ Program instructions
– Robot configuration control
– Motion control
– Hand control
– Location assignment and modification
– Program control, interlock commands and
I/O controls
VAL programming language

• Robot configuration control

– Any robot configuration change is accomplished
during the execution of the next motion instruction
other than a straight line motion.
– RIGHTY : change the robot configuration to
resemble a right human arm
– LEFTY : change the robot configuration to
resemble a left human arm
– ABOVE : make the elbow of the robot to point up
– BELOW : make the elbow of the robot to point
down
 VAL programming language
◼ Motion Control
– MOVE : moves the robot to specified location
– MOVES : moves the robot to straight line path
– DRAW : moves the robot to straight line through specified
distance in X, Y and Z directions
– APPRO : moves the robot to location which is at an offset (
along tool z-axis) from a specified point
– DEPART : moves the tool along the current tool Z-axis
– APPROS : moves the robot to location which is at an offset (
along tool z-axis) from a specified point in straight line path
– DEPARTS : moves the tool along the current tool Z-axis in
straight line path
– CIRCLE : moves the robot through circular interpolation via
three specified point locations
 VAL programming language

◼ Hand Control
– OPEN : the opening of the gripper during the next instruction
– CLOSE : the closing of the gripper during the next instruction
– OPENI : the opening of the gripper during the next instruction
immediately
– CLOSEI: the closing of the gripper during the next instruction
immediately
– MOVEST PART, 30 : the servo-controlled end-effector causes a
straight line motion to a point defined by PART and the gripper
opening is changed to 30 mm.
– MOVET PART, 30 : the gripper to move to position. PART with an
opening of 30 mm by joint-interpolated motion.
– In VAL II language
• CLOSEI 75 : if servo-controlled gripper is used, then this
command causes the gripper to close immediately to 75 mm.
• GRASP 20, 15 : the gripper to close immediately and checks
whether the opening is less than the amount of 20 mm. If the
opening is less than 20 mm, the program, branches to the
VAL programming language

◼ Location Assignment and Modification

– SET : set the value in the monitor
– HERE : position displayed on the screen
◼ Program Control, Interlock Commands
and Input / Output Control
– SETI : set the value of an integer variable
to the result of an expression.
– TYPEI : displays the name and values of
an integer variable
 VAL programming language
◼ Program Control, Interlock Commands and Input /
Output Control
– In VAL II language
• PROMPT : the operator respond by typing the value
requested and pressing the return key.
– PROMPT “Enter the value” , Y1
– GOTO 20 : an unconditional branch to the program step
identified by a given level, 20
– GOSUB : transfer the control to the subroutine
– RETURN : Transfer the control from the subroutine
– IF … THEN : transfer control to a program step depending on
a relationship (conditions) being true or false
IF ROW LT 3 THEN
(A number of instruction steps)
ELSE
(A number of instruction steps)
END
 VAL programming language

◼ Program Control, Interlock Commands and Input /

Output Control
– PAUSE : terminates the execution of a user program
– PROCEED : To terminate PAUSE command
– SIGNAL : turns the signal ON or OFF at the specified output
signals
• SIGNAL 2, -3
– Output signal 2 (positive) is to be turned ON and
output signal 3 (negative) is to be turned OFF
– IFSIG and WAIT: test the status of one or more external
signals
• WAIT SIG (-1, 2)
– It will prevent the program execution until external
input signal 1 is turned OFF (negative) and external
input signal 2 is turned ON (positve)
– RESET : turns OFF all the external signals
Depalletizing
 .PROGRAM DEPALLET 1
REMARK PROGRAM TO PICK OBJECTS FROM A PALLET
REMARK CORNER AND CHUTE LOCATIONS ARE TAUGHT
SETI MAXCOL = 4
SETI MAXROW = 3
SETI ROW = 1
SETI COLUMN = 1
SET PICK = CORNER
SHIFT PICK BY 20.00, -20.00, 60.00
OPENI
10 MOVE PICK
DRAW 0, 0, -25.00
COLSEI
DRAW 0, 0, 25.00
MOVE CHUTE
OPENI
GOSUB PALLET
IF ROW LE MAXROW THEN 10
.END
.PROGRAM PALLET
REMARK SUBROUTINE FOR LOCATIONS
SETI COLOUM = COLUMN +1
IF COUMN GT MAXCOL THEN 20
SHIFT PICK BY 50.00, 0.00, 0.00
GO TO 10
20 SETI ROW = ROW +1
IF ROW GT MAXROW THEN 30
SHIFT PICK BY -150.00, -30.00,0.00
SETI COLUMN =1
30 RETURN
.END
 WELDING INSTRUCTIONS
• WSET 1 = 13, 54.3, 63
– A welding speed of 13 mm/s, welding voltage of 54.3% and welding
current of 63 % for welding condition 1

WSTART : starts the welding under present welding conditions and weaving
conditions (set by WSET and WVSET)

WEND : inactivates a welding start signal

CRATERFILL : It is used when a crater filler is required at a welding end

◼ WVSET 1 = 10, 7, 2, 0, 1, 3, 0
– 10 : cycle distance
– 7 : amplitude
– 2 : right end stop distance
– 0 : right end stop time
– 1 : center stop distance
– 3 : left end stop distance
– 0 : left end stop time
An Arc Welding Program

.PROGRAM WELD CURVE

1 WSET 1 = 10, 40, 50
2 WSET 2 = 8, 35, 60
3 WSET 3 = 12, 40, 55
4 WVSET 1 = 5, 5

5 WVSET 2 = 10, 7, 2, 0, 1, 2, 0
6 MOVE X1 15 CIRCLE X7, X8, X9
7 MOVE X2 16 MOVES X10
8 WSTART 1, 1 17 WEND 0.5
9 MOVES X3 18 WSTART 3, 2
10 WEND 0.5 19 MOVES X11
11 WSTART 2 20 CRATERFILL 0.8, 3
12 MOVES X4 21 WEND 0.5
13 CIRCLE X4, X5, X6 22 MOVE X12
14 MOVES X7 .END