Scribd
Upload
12 views

Trajectory and Robot Programming

Uploaded by

iitiandude93
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
12 views

Trajectory and Robot Programming

Uploaded by

iitiandude93
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 42

Trajectory Planning

Prof. Ashish Dutta


Professor and Head
Dept. of Mechanical Engg
IIT Kanpur, Kanpur 208016, INDIA
Robot Programming

Dr. Ashish Dutta


Professor and Head
Dept. of Mechanical Engineering
Coordinator, Center for Mechatronics
IIT Kanpur, INDIA
General structure of robot
hardware
 Mechanical hardware : arms, motion
transmission, gripper.

 Robot Control unit: robot controller, motors,


sensors, power amplifiers, ADC/DAC.

 Central controller for interfacing robot with


other machines etc.
Using a robot:
 Teach pendent: used to manually teach
different points that are recorded in the robots
memory. These points can then be played
back. e.g. tasks requiring human skills e.g.
welding, etc.

 Program based control:The desired task is


written as a sequence of motions in a
language such as VAL. These motions can
then be played back.
Three generations of programming
languages
 First generation: Simple commands for pick and
place operations, with limited interaction with limit
switches (ON/OFF), stops etc.

 Second generation: Interaction with the


environment using force, touch, ADC/DAC, etc.

 Third generation: Intelligence capability to


understand general commands e.g. ‘tighten a nut’
Examples of a few programming
languages:
 VAL : Victors Assembly Language (1960).
Developed by Unimation for the PUMA robot.

 AML : Developed by IBM for manufacturing


automation systems (1960).

 RPL : based on FORTRAN Language (1960).


Basic commands in VAL II
 Constants, variables, data objects

 Motion control commands.

 Robot Hand control.

 Program control and input/output control.


Variables, Motion Control
 POINT P1 = 3, 4, 5, 30, 45, 50
(x, y, z, Ɵ, α, Ɣ)

 MOVE P1

 MOVES P1

 DRAW 45, 56, 60

 APPRO P1 50 (along z axis)

 DEPART P1 50 (along z axis)

 APPROS or DEPARTS APPRO or DEPART


MOVE and MOVES
 Straight line motion between two points
requires more energy ?

• Energy required is
proportional to the number
of joints that move to take
the end effector from one
point to another.
Hand Control
 OPEN and CLOSE

 OPENI and CLOSEI

 CLOSEI 75 in VAL
Why two commands OPEN and
OPENI?
Speed control, Pause
 SPEED 60 IPS

 DEFINE PATH1=PATH(A1,A2,A3)

 PAUSE Time (milli secs)


In – line robot cell
Pick from conveyor and place on table

Table : Parts to be placed in each


square : INDEXING
Robot centered cell –
sequencing - dead lock
Communication with Simple ON/OFF
sensors
 Proximity : ultrasonic, hall effect, conductive
sensors.

 Limit switches.

 ON +5 V
 OFF 0 V
Program Control, Interlock Commands and
 GOTO 20
 GOSUB and RETURN
 IF THEN ELSE

 PAUSE
PROCEED

ON/OFF Type communication based on high (+5V) / low (0V)signals

 SIGNAL 2,-3
 IFSIG 2,-3 THEN
 WAIT SIG (-1, 2)
 RESET turns off all external signals
 ON 2
 OFF 3
 RESET
What Is Data Acquisition?
What Is Data Acquisition?
 The process by which phenomenon in the
real world can be translated and manipulated
by a computer-readable signals.

 This physical phenomenon could be the force


applied to an object, temperature of a room,
the pressure inside a chamber and many
other things.
There are some components to be
considered when building a basic
DAQ system
• Transducers and sensors
• Signals
• Signal conditioning
• DAQ hardware
• Driver and application software
Sensors/Transducers
 A sensor is a device that responds to a physical
stimulus (as pressure, temperature, light, sound, or
a particular motion) and transmits a resulting
impulse (a signal relating to the quantity being
measured). A sensor normally also has some
signal conditioning circuit.

 A transducer is a device that is actuated by power


from one system and supplies power usually in
another form to a second system. For example a
loudspeaker.
Analog Signals

• An analog signal is a continuous signal that can


be at any value with respect to time.
e.g. analog signals include voltage,
temperature, pressure, sound, and load.

• The three primary characteristics of an analog


signal include level, shape, and frequency.
· level
· shape
· frequency
Digital Signals
• An analogue signal sampled at a particulate
frequency results in a digital signal.

• A digital signal has values only at certain


instants of time (at which it is being sampled).
ON/OFF type of digital signal
ADC / DAC
 ADC : Analogue to digital converters.
Temperature, force signal converted to digital
signal for a computer to read.

 DAC : Digital to analogue converters.


Digital voltage converted to analogue voltage.

Robots use ADC to convert forces, distance,


etc from analogue to digital value.
Input / output control

 IOPUT and IOGET


SIGNAL

ADC / DAC
 ADC1= SENSOR 1
DAC1= CONST
DAC1= 3 + CONST

 VAR 1 = ADC (1)


Computation and operations
 SIN(A)
 COS(A)

 SQRT(A)
 EQ, NE, GT …
Using a robot:
 Teach pendent: used to manually teach
different points that are recorded in the robots
memory. These points can then be played
back. e.g. tasks requiring human skills e.g.
welding, etc.

 Program based control:The desired task is


written as a sequence of motions in a
language such as VAL. These motions can
then be played back.
Computer integrated
manufacturing
Lead through teaching
Program
example
PROGRAM DEPALLET 1
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
CLOSEI
DRAW 0, 0, 25.00
MOVE CHUTE
OPENI
GOSUB PALLET
IF ROW LE MAXROW THEN 10
END
Program Contd.
PROGRAM PALLET
SETI COLUMN = COLUMN + 1
IF COLUMN GT MAXCOL THEN 20 SETI COLUMN = 1
SHIFT PICK BY 50.00, 0.00, 0.00 30 RETURN
GO TO 10
20 SETI ROW = ROW + 1
IF ROW GT MAXROW THEN 30
SHIFT PICK BY – 150.00, -30.00, 0.00
In – line robot cell
Pick from conveyor and place on table

Table : Parts to be placed in each


square : INDEXING

You might also like