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ROBOTPROGRAMMING LANGUAGES CRITERIA

programming language
Anobot should meet the following
/Ishouldenable the human
operator to utilize all of thecritería:
intothe robot,
its sensor systems,
external storage, etc. capabilities designed
such that the human
/tshould be operator will have to use a clear and
styleewhen programming robot
robot motions. simple
must be easy to learn, so
/ Its syntax that a nonprofessional
readily memorize the language and as readily write programs,programmer
could
and read them.
UThe requirements stated above are not at all easy to satisfy because we
are still
lacking methods to formalize them.
The multiplicity of existing robot programming languages, we will only touch
upon those commonly used.
B0. Generation of Language
E1. First Generation Languages
Ihe first generation languages use combination of command statements and
each pendant procedures for developing robot programs. These are called
motion level languages.
7.10

The VAL is anexample of first generated language for robots. These l


Robaties
These Inguages
cannot make complex arithmetic computation and cannot handle
sensor data.
7.6.2, Second Generation Languages
VThe second generation languages overcome many of the limitations of
generation languages and add to their capabilities by incorporating he frst
make the robot seem nmore intelligent. features th
V This enables the robot to accomplish more complex tasks. These
have been called "structured' programming languages, because they poMe
structured control constructs used in computer programming languages,
languages
Commercially available second generation languages include AML, RAL
MCL, and VAL II Programming inthese languages is very much like computer
programming.
V This might be considered a disadvantage since a computer programmer's skilk
are required to accomplish the programming.o
pendant to
V The second generation languages commonly make use of a teach
define locations in the work space.
languages can be listed
The features and capabilities of these second generation
as follows:
same as for the first generator
1. Motion control: This feature is basically the
languages.
Advanced sensor capabilities: The enhancements in the second generation
2.
typically include the capacity to deal with more than simple
languages means athe
binary (on-off) signals, and the capability to control devices by
sensory data.
intelligence: This is the ability to utilize information received abou
3. Limited
work environment to modify system behavior in a programmed manner
the
language generally
Communications and data processing: Second generation
interacting with computers and computer data bases for e
have provisions for
keeping records, generating reports, and controlling activities n
purpose of
workcell.
7.6.3. High Level Computer Languages AML,
robots are AL,
The high level computer language now used to program
VAL, RAIL, RPL, WAVE, HELP, JARS.
yProgramming
7.11
A LV
TheAL was developed at the robot research centre of Stanford Universíty. AL
ression
isAM language.
V can support robot level language and interpreted on real fime control
machine,
/ Real time programming language constructs such as synchronísation and
concurrent execution..
support for world modelling.
/Itcan
/ALGOL)like. data and control structure.

2VAL
/VAL means Versatile Algorithmic Language.
/This is a programming language for industrial robots, one of the most
commonly used at this writing.
/It has been developed by Unimation Inc for the PUMA series of
capabler, doing a broad range of jobs notably assembly, arc robots
nainting andmaterial handling.
welding. spray
/Infact, a VAL is specific set of computer and robot commands that
allow the
operatorto enter and edit complex robot programs efficiently.
/ Edit programs written in VAL.
/ Handle files on external devices, monitor the status of the
system, and calibrate
the sensors.

1RAIL
RAIL was developed by Automatix Inc. in 1981. RAIL means Robotic
Automatix Incorp. Language.
Many constructs have been incorporated into RAIL to support inspection and
atc welding system.
Peripherals are aterminal and ateach box.
RAIL 0S an interpreter, loosely based on Pascal.

This language Was developed by IBM in the year 1982. The expression of AML
SAManufacturing Language.
AML0s
the control language for the IBM RS-1 robot.
AL
was developed at the
AL
Yession
1he isAM
| language. robot resenrch
centre of
Vl
cansupport
machine,
robot level
Innguage interpreted on
and Stanford Jniversity.
Al
Real time programming language real time
V
concurrent execution..
constructs such as control
/ncan
/ALGOLIi
forworld modelling.
supportfor
like. data and control structur. synchronisation and
VAL

/VALmcans Versatile Algorithmic


/ This is a programming languageLanguage.
for
commonly used at this
been
writing. indust ria l robots, one of the
most
/It has developed by Unimation Inc for
capabler, doing a broad range of jobs the PUMA
paintingand material notably series of robots
/ Infact, a
handling.
VAL is specific set of
assembly, arc welding, spray
operatorto enter and edit complexcomputer and robot
/Edit programs written in VAL.
robot programs efficcommands
iently.
that allow the
/Handle files on external ddevices, monitor the status of the
the sensors.
system, and calibrate
RAILVibrt
/RAIL was developed by Automatix Inc. in 1981. RAIL
Automatix Incorp. Language. means Robotic
/ Many constructs have been incorporated into RAIL to support
arc welding system. inspection and
/Peripherals are a terminal and ateach box.
/RAIL is an interpreter, loosely based on
LAML
Pascal.iheoosi
This language was developed by IBM in the
is A
year 1982. The expression of AML
Manufacturing Language.
AML is the control language for the IBM RS-1
robot.
7.12

V RS-Irobot is a cartesian manipulator with 6 DOFs. Rob ties


Itsupports dataaggregation.
It supports joint space trajcctory planning subject to position and
constraints.
Supports feature of LISP-Like and APL-Like constructs. veoity
It may provide sensor monitoring that can be interrupt motion.
5. HELP
V Itwas developed by General Electric Company in the year of 1980.
V HELP language has capability to controltwo robot arms at the
same time.
V The structure of the language is like PASCAL.
6. JARS
Y This language was developed by NASA's JPL.mhwog
V The JARS can be interfaced with PUMA 6000 robot for
programming.
running robot
V This language was developed from PASCAL.
7.6.3.1. Joint Control Languages oee A
V Language at this level concentrate on the physical control of robot motion in
terms of joints or axes.
V The program commands must include the required angular change of rotational
joints or the extension lengths of linear actuators.
The language usually does not support system or work-cell commands, such s
INPUT or OUTPUT, which can be incorporated into the programs of higher
level robot languages for control of external devices.
bo In this level language, the user must program in joint space. The term jont
space means that all the programmed points in the work envelope of the robi
are expressed as a series of axis positions for all the axes on the arm.
/The joint angles that are required for the robot axes for each programmed pont.
/ This level of robot language is used on some less sophisticated pooint-to-poin
PLCs
servo machines and on all stop-t0-stop pneumatic robots controlled with
The language used for stop-to-stop robots is the general-purpose languays
the PLC.
ROBOT PROGRAM FOR POINT TO POINT
7.12. TO WRITE THE
AND TO PROTRUDING IN APALLET OBJECT
PATH ROBOT
PROGRAM 7.3
REMARK PROGRAM TOPICK OBJECTS FROM A PALLET
REMARK CORNER AND CHUTE LOCATION ARE TAUGHT
SETI MAX COL = 4
SETI MAX ROW = 3
SETI ROW = 1
Pragramming

SETICOLUMN 7.35
SETIPICK -
SIHIFT
CORNER
PICK BY 20.00, -20.00,
OPEN I 60,00
10 MOVEPICK
DRAW 0.0,-25.00
CLOSEI

DRAW 0, 0, 25.00
MOVE CHUTE
OPENI
GOSUB PALLET
IF ROW LE MAX ROW THEN 10
END

PROGRAME PALLET
REMARK SUBROUTINE
FOR
SETI COLUMN = COLUMN +1
IE COLUMN GT MAX COL THEN 20
LOCATIONS
SHIFT PICK BY 50.00,0.00,0.00
GOTO 10

20 SETIROW= ROW +1
F ROW GT MAX ROW THEN 30
SHIFT PICK BY -150.00, -30.00, 0.00
SETI COLUMN=1

30 RETURN
END
+2
Rob tes
WorldY
c0-ordinate

Tool
COordinate
-X

+Z

Chute

Pallet

Fig. 7.7. Point to point path robot

7.13. TO WRITE ASIMPLE PROGRAM IN VAL LANGUAGE FOR SUTABIE


ARCWELDING
Home X1
- X12 X1 = Home position
Triangle Straight X- X3 = Triangular weaving
weave weld
XA Circular arc X4- X5-Xg = Circular interpolation
X,- Xg- Xg = Circular arc
X10- X11 = Five point weaving
X12 = Depart location
X3-X4 = Straight weld
Xg Straight X41 Xg- X10 = Straight weld
weld
Trapezoidal weaving
ROGRAM
7.4 7.37
WSETI = 10, 40, 50
=8, 35, 60
WSET2

WSET3

WVSETI
= 12, 40, 55
= 55
S
s WVSET2 10, 7, 2, 0, 1, 2, 0
6 MOVEX]
MOVEX2

WSTART 1,1
8 g
9 MOVESX3

10 WEND 0.5
11 WSTART2
12 MOVES X4
. CIRCLE X4, X5,
14 MOVES X7to
Xóelloolsbebian odobo
15 CIRCLE X7, X8, X9 bonendotat
16 MOVES X10
17 WEND
0.5on
18 WSTART 3, 2
htom ot iodet d bue
19 MOVES X11
20 CREATE FILL 0.8, 3
21 WEND 0.5
22 MOVE X12
END

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