Explain the various programming methods used in robotics with examples and features

of each.
Robot programming
 Manual lead through, teach in
 Manual programming
 Tactile & optical sequence programming
 Master – slave programming
 Pictorial programming
 Explicit Programming
 Implicit Programming
Programming methods for industrial robots

 Several scientific programming languages were extended with movement

instructions, sensor control, and data types (frames, vectors, matrixes, etc.,)
 Various dedicated languages were developed with robot specific commands
derived from other automation languages including APT.
 The world model suggested in AL, SRL, & RAPT
 Data base system specially designed for robots are under development.
Methods of Robot programming
 Manual programming method
 Walk through programming method
 Lead through method (or) Teach pendant
 Off –line programming method
Manual programming method
 It’s not really programming in the conventional sense of the word.
 It is more like setting up a machine rather than programming.
 It is the procedure used for the simpler robots & involves setting mechanical
stops, cams, switches, relays in the robot’s control unit.
 For these low technology robots used for short work cycles.
 This method is adequate.
Walk through method
  The programmer manually moves the robots arm and hand through the motion
sequence of the work cycle.
 Each movement is recorder into memory for subsequent play back during
production.
 It is suitable for spray painting, arc welding robots
Lead through or Teach pendant
 It makes use of a teach pendant to power drive the robot through its motion
sequence.
 Teach pendant is usually a small hand – held device with switches and dials to
control the robots physical movements.
 Each movement is recorder into memory for subsequent play back during
production.
 It is a very popular method because of its ease & convenience.
 Classified into two types:
 Power lead through – Point to Point movement
 Manual lead through – Continuous path control.
Off line method
 It involves the preparation of the robot program off – line, in a manner similar to
NC part programming.
 After the program has been prepared, it is entered into the robot memory for use
during the work cycle.
 The advantage of this method is that production time of the robot is not lost to
delays in teaching the robot a new task.
 It can be done while the robot is still in production on the preceding job.
In future manufacturing systems, robot programming will be performed by advanced
CAD/CAM systems, just as NC part programs can be generated by today’s CAD/CAM
technology.
Benefits:
 Reduced down time for programming.
 Programming tools make programming easier
 Enables concurrent engineering & reduces product lead time
 Assists cell design & allows process optimization.