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Questions and Answers
Explain the advantage of On-Line/Teach Box programming.
Easy, No special programming skills or training required, Can specify other conditions on robot movements (type of trajectory to use – line, arc)
What is Off-Line Programming and when is it beneficial?
Off-Line Programming involves creating robot programs without needing the physical robot. It is beneficial when the teaching time compared to production time is low.
What is robot programming?
Robot programming is the defining of desired motions so that the robot may perform them without human intervention.
What is the purpose of Teach-In in robot programming?
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In robot programming, a configuration refers to any particular position and orientation of Pe in ________.
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On-Line Programming requires special programming skills and training.
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Why is off-line programming time-consuming?
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What are some benefits of off-line programming?
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Off-line programming can be very attractive for increasing complexity of robot tasks.
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Object level programming involves operations to be performed on the __________ or relationships between parts.
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What are the different levels of robot programming mentioned?
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Study Notes
Robot Programming
- Robot programming is the process of defining a series of basic actions to achieve a specific task or process.
- It involves identifying and specifying the desired motions of the robot so that it can perform them without human intervention.
Definition of Industrial Robot
- An industrial robot is an automatically controlled, freely programmable, multifunctional manipulator with three or more programmable axes.
- It can be used for industrial applications in either a fixed or mobile platform.
Key Concepts
- Degrees of Freedom (DoF): the number of independent movements or rotations of a robot's joints (e.g., q1, q2, q3).
- End-Effector: the end of the robot arm, where the gripper or tool is located.
- Pose: both the position and orientation of the end-point (Pe) in space.
- Base Frame: the fixed frame of reference attached to the base of the robot.
- Configuration: any particular position and orientation of Pe in space.
Robot Programming Methods
- On-Line Programming: uses the robot to generate the program, teaching/guiding the robot through a sequence of motions.
- Off-Line Programming: writes a program using a text-based robot programming language, without needing access to the robot.
- Combination Programming: combines on-line and off-line programming, using on-line to teach locations and off-line to define the task.
On-Line Programming
- Advantage: easy to use, no special programming skills or training required.
- Disadvantages: not practical for large or heavy robots, difficult to achieve high accuracy, and difficult to edit out unwanted operator moves.
Teach-In Process
- Transfer of appropriate programs in the robot controller.
- The robot is manually guided through certain trajectories, and the movements are monitored and stored.
Pose Programming
- Abstract task: specify the position and orientation of the end-point (Pe) in space.
- Uses TCP (Tool Center Point) data, joint coordinates, and world coordinates.
Programming Languages
- Almost every robot has its own programming language.
- Control-independent language: allows programming without needing to understand the robot's internal workings.
Play-Back Programming
- Operator uses the robot to manually perform the task, and the joint angle values are read and stored.
- Requirements: kinematic balance, low friction in joints, and high flexibility of movement.
- Advantages: easy programming, no prior knowledge required.
- Disadvantages: correction in difficult sections, difficult change of velocity.
Task of Sensors
- Used to improve programming ease, flexibility, and versatility.
- Used for searching, tracking, and velocity fitting.
Off-Line Programming
- What is Off-Line Programming? : creating a program without using the robot.
- When? : when the time for teaching in is high compared to production time.
- Why? : to increase productivity, and to optimize and improve programs.
Advantages of Off-Line Programming
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Programs can be developed without needing the robot.
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Programs can be optimized and improved.
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External sensor data can be incorporated.
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Programs can be tested and evaluated using simulation techniques.
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Programs can be easily maintained and modified.
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Programs can be properly documented and commented.### Robot Programming
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Design and develop a complete robot program and its documentation
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Test and debug the program using a simulator of the robot and its workspace
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Test the program on the real robot
Off-Line Programming
- Reduces the cost of teaching a robot
- Is useful in mass production, especially in automotive industry
- Is attractive in small and medium production
- Benefits include:
- Reduction of the robot operating time
- Dislocation of both ends of the danger area of the robot
- Single robot programming system
- Integration of CAD/CAM systems
- Simplification of complex tasks
- Optimization of robot programs
- Access control
- Cycle time analysis
- Verification of robot programs
Types of Robot Programming
- Joint level programming: basic actions are positions and movements of individual joints of the robot arm
- Robot-level programming: basic actions are positions and orientations of the end-effector frame
- High-level programming:
- Object-level programming: basic actions are operations performed on parts or relationships between parts
- Task-level programming: basic actions are complete tasks or subtasks
Examples of Object-Level Programming
- Pick-up part-A by side-A1 and side-A3
- Move part-A to location-2
- Pick-up part-B by side-B1 and side-B3
- Put part-B on-top-off part-A with specific orientation and alignment
Examples of Task-Level Programming
- Paint the car body red
- Assemble the gear-box
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Description
Learn the fundamentals of robot programming, including online and offline programming, concepts, and sensor functions. This quiz covers the basics of robot programming and its applications.
