TMPT06
Robot Technology
Luis Ribeiro ([email protected])
IEI – Manufacturing Engineering
Robot Programming
Robot Programming Languages offer a set of functions that affect the positioning of
the robot.
Typically robot movement can happen different coordinates:
• Joint Space Coordinates - as a function of the joint movement
• Cartesian Space Coordinates - as a function of a “world “ reference frame.
• Tool Space Coordinates - as a function of the reference frame associated with the
tool.
• Object Space Coordinates - as a function of the reference frame associated with a
specific object.
Movement can be absolute or relative and the trajectory can be controlled:
•
Linear Movement
•
Circular Movement
•
Contour following
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TCP
The positioning is
normally defined in
respect to the TCP.
Tool Center Point - TCP
Tool-Center-Point. The manual control of the robot is decoupled in a positioning part
and rotational part in a pre-programmable TCP.
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Coordinates in the Joint Space
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Cartesian Space with fixed referential
Z
X
Y
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Gripper/Tool
Coordinates
(Cartesian)
Z
X
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Y
Cartesian Space associated with the Objects
being manipulated
Z
Y
X
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Robot Programming Languages are
Movement-oriented
• MOVJ - Moves to the teaching position by joint interpolation.
• MOVL - Moves to the teaching position by linear interpolation.
• MOVC - Moves to the teaching position by circular interpolation.
• MOVS - Moves to the teaching position by spline interpolation.
• IMOV - Moves by linear interpolation from the current position
for the specified incremental value.
• SPEED - Sets the playback speed. The manipulator operates at
the speed specified in the SPEED instruction when the speed is
not specified in the move instruction.
REF: http://www.motoman.com/motomedia/manuals/docs/155493-1CD-R4.pdf
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Linear Move
Pos 1
Pos 2
Circular Move
Pos 2 med cirkelargument
Pos 3
Pos 1
Incremental or Patterned Movement
Programming Example
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V=50 MAX=200 MM/S
TCP 0
ROBOT COORD
FRAME 0
POS V= 100%
WAIT UNTIL INP 3=1
POS V=100%
POS V=600%
POS V=400%
POS V=400% STORE LOCATION 3
RECT COORD
POS V=25% FINE L
POS V=25% STORE LOCATION 4
POS V= 10% FINE
GRIPPER WAIT 0.8 S
POS V=25% LOCATION 4
ROBOT COORD
POS V=100% LOCATION 3
RETURN
However…
We want to be able to control the flow of the
program…
Robot programs are not only sequences of movements
altough movements is very important.
It might be that certain movements only happen
under certain circumstances.
Additionally we want to be able to control the tool and
react to changes in the surrounding space and objects.
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Flow Control Instructions
• IF - Evaluates the various conditions during operation. This
instruction is added after other instructions for processing.
• UNTIL - Evaluates the input conditions during operation. This
instruction is added after other instructions for processing.
• ENWAIT - Carries out, in advance for the specified time, an
instruction other than a move instruction on the instruction line
next to the move instruction that was added with ENWAIT.
REF: http://www.motoman.com/motomedia/manuals/docs/155493-1CD-R4.pdf
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IF
Move to Pos X
Close Gripper
Part Picked?
Stop
yes
Warn Operator
Move to Pos Y
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UNTIL
REF: http://www.motoman.com/motomedia/manuals/docs/155493-1CD-R4.pdf
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ENWAIT
REF: http://www.motoman.com/motomedia/manuals/docs/155493-1CD-R4.pdf
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What if we want to do something again?
Move to Pos X
Dispense Glue
More Glue Required?
yes
Move to Pos Y
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Jumps and Labels
• JUMP - Jumps to specified label or job.
• *(LABEL) - Specifies the label for the jump.
REF: http://www.motoman.com/motomedia/manuals/docs/155493-1CD-R4.pdf
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Note
Each robot manufacturer has its own programming
language. The Move-related and program flow control
instructions are normally similar.
The description of the instructions for the robot the we
will use in the lab can be found in:
http://www.motoman.com/motomedia/manuals/docs/1554931CD-R4.pdf
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www.liu.se