ROBOT

PROGRAMMING

(TEXTUAL ROBOT PROGRAMMING)

By Paritosh Chougule

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OFF-LINE PROGRAMMING
 Introduction
• WAVE
• Val(Victor’s Assembly Language)
• VAL_2

 Generations of languages

 First generation
 Second generation

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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

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 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

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SECOND GENERATION LANGUAGE

 Structured programming languages

 Improved languages
 More capabilities to make the
robot more intelligent
 E.g.. AML, RAIL, MCL & val-2 etc.

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 Features of second generation
programming

 Motion control
 Advanced sensor capabilities
 Limited intelligence
 Communication and data processing

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ROBOT LANGUAGE STRUCTURE
 Operating System

 Robot language elements and functions

• Constants , variables and other data objects

• Motion commands

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Motion Commands
MOVE & Related statements

 MOVE P1
 MOVES P1
 MOVE A1 VIA A2
 DMOVE(4, 125)
 APPRO P1, 40 MM
 DEPART 40 MM

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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)

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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

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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.

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THANK YOU

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