Robot Programmming VAL-I PART-I-Robot Language .pptx

The fundamental challenge of all robotics is this: It is impossible to ever know the true state of the environment. Robot control software can only guess the state of the real world based on measurements returned by its sensors. It can only attempt to change the state of the real world through the generation of control signals.

1. SHARAD INSTITUTE OF TECHNOLOGY, COLLEGE OF ENGINEERING, YADRAV- ICHALKARANJI (Kolhapur) An ‘A’ Grade Institute Accredited by NAAC NBA Accredited Programmes Prepared by Mr. Ashish A. Desai Assistant Professor Robot Programming VAL-I

2. Generations of Robot Programming Languages Following are the three major classes into which robot languages can be broadly grouped : 1 First Generation Language 2. Second Generation Language

3. First Generation Language: The first generation languages use a combination of command statements and teach pendant procedure for developing robot programs This type of language provides an off-line programming in combination with the programming through the robot teach pendant. Sometime referred as ‘Motion level’ language Its capability is limited in handling of sensory data and communication with other components. The programming instructions can be used to define the motion sequence of (MOVE), they have input/output capabilities (WAIT, SIGNAL) and they can be used to write subroutines (BRANCH). Common limitation of first generation languages include inability to specify complex the arithmetic computations for use during program execution, the inability to make use complex sensors and sensor data and limited capacity to communicate with other computers. First generation language are quite limited in their ability to communicate with other computers. Example: VAL (Versatile Algorithmic Language)

4. 2. Second Generation Language: The second generation language overcome many of the limitation of the first generation language and add to their capabilities by incorporating features that make the robot seem more intelligent These are structured programming languages performing complete tasks. They can generate complex motions; can handle both analog and digital signals besides the binary signals. These languages have the added advantage of better interfacing facilities with other computers. Data processing, file management and keeping all the records of events happening in the work cell can be done more efficiently . Example: AML (A Manufacturing Language), RAIL (Robotic Automatix Incorporated Language), RCL, VALII etc

5. The feature and capabilities of this Robot second generation language can be listed as 1 . Motion Control: These languages offer sophisticated tools for controlling robot movements, allowing precise and complex motions. They might include libraries or commands that facilitate smooth motion planning, trajectory generation, and coordination of robotic actuators . 2. Advanced Sensor Capabilities: Second-generation languages support integration with a wide array of sensors, enabling robots to gather and process diverse types of data from their environment. This includes capabilities such as integrating lidar , cameras, proximity sensors, or other specialized sensors for tasks like object detection, localization, and mapping. 3 . Limited Sequence: This might refer to the ability to program sequences of actions or commands, allowing robots to perform specific predefined tasks or routines. These languages likely provide functionalities for creating step-by-step sequences or procedures for the robot to execute. 4 . Communication and Data Processing: These languages are equipped with features for communication between robots and external systems, as well as for processing the data obtained from various sources. This could involve protocols for data transmission, networking capabilities, and tools for efficient data processing to make decisions or adapt behaviors based on incoming information

6. ROBOT LANGUAGE STRUCTURE

7. ROBOT LANGUAGE ELEMENTS AND FUNCTIONS Constants, variables and other data objects Motion commands End effectors and sensor commands Computations and operations Program control and subroutines Communications and data processing Monitor mode commands

8. Constants, Variables A constant is a value used in the program that does not change during execution of the program. A variable is a symbol or symbolic name that can change in value during execution of the program. Constants and variables can be integers (whole numbers), real numbers containing a decimal point, or strings that are enclosed in quotes. Integers and real numbers can have positive or negative values indicated by a + or – sign.

9. Motion commands MOVE A1 (move to point A1) MOVES A1 (with straight line interpolation) MOVE A1 VIA A2 (moves to A1 thru A2) APPRO A1, 20 (approach at axial offset) MOVES A1 SIGNAL (to close gripper) DEPART 50

10. 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-effectors 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.

11. End effectors and sensor commands OPEN or CLOSE (wait for next motion ) OPENI or CLOSEI (immediate) CLOSE 40 MM or CLOSE 1.575 IN ( int opening) CLOSE 3.0 LB (gripping force) CENTER ( doesn’t move the object ) End Effectors command – Tools OPERATE TOOL(SPEED = 125RPM) OPERATE TOOL (TORQUE = 5 IN LB) OPERATE TOOL (TIME = 10 SEC)

12. SENSOR COMMANDS The SIGNAL command can be used both for turning on or off an output signal. SIGNAL 3, ON SIGNAL 3, OFF The above command would allow the signal from port 3 to be turned on and off at different time instants. SIGNAL 105, 4.5 --The above command will provide an output of 4.5 unit (probably volts) within the allowable range of the output signal. WAIT --The WAIT command is used to verify that the device has been turned on before permitting the program to continue.

13. Computations & Operations Used for arithmetic and logical operations. The evaluation of an expression will be from left to right with parenthesis used to indicate that expression inside the parenthesis should be evaluated first.

14. Some languages have the capability to calculate trigonometric, logarithmic, exponential and similar functions. Computations & Operations

15. Communications & Data Processing Refers to communication between the robot system and the operator or the robot system and other computer based systems and their peripherals (e.g., storage devices, printers). Communication between the robot system and the operator: allows robot to request information, to indicate the source of a malfunction, or to inform the operator about what it is presently doing. Common devices are CRT, plotters, buzzers and speech synthesizers.  The common devices used by the operator to communicate with the system are the teach pendant and the alphanumeric keyboard . Other possible devices include joysticks, light pens and speech recognition systems.

16. THANK YOU