Programming Methods

Teach Programming
1. Point to Point
  1. most common method
  2. robot moved to each point in turn and the point recorded
  3. recored position of joints in controllers memory
  4. teach pendant used
    1. hand held device connected to robot controller
  5. easier to manoeuvre using cartesian co-ordinates (not joint coordinates)
    1. joint coordinates need to be transformed to cartesian co-ordinates
      1. Kinematic model of robot used
  6. cylindrical coordinate can be used
    1. useful when FMC is arranges in circle
  7. Disadvantages
    1. any path can be taken by robot to reach the coordinates
      1. dangerous
      2. could bang into objects
  8. velocity each joint moves proportional to distance
    1. so all joints take same time to move to their new positions
    2. joint interpolated control
    3. allows robot to move with maximum velocity
  9. desirable joints move in straight line to avoid collision
    1. computer creates series closely spaced target points
      1. joins successive taught points
      2. closer the points the straighter the line
    2. useful if robot needs to follow outline of complex shape
  10. robot controller sends signals to other equipment
  11. robot receives signals from sensors
  12. simple programming language
2. Continuous
  1. programmer holds end of robot arm and moves it along path
  2. spray painting
  3. joint positions recorded automatically at series of closely spaced points
  4. teaching arm available which is lighter and more representative of movement of spray gun
  5. can not be used for precision
    1. NOT for arc welding (point to point)
3. disadvantages
  1. risk to programmer in such close proximity to the robot
  2. positioning relies on human judgement (error prone)
  3. teaching and debugging very time consuming
  4. robot out of work whilst being programmed
    1. mas production not too bad because used for long time
    2. Batch new programme has to be taught regularly
4. accepted form of programming
  1. high degree of accuracy
  2. arm moves where its been taught
Off Line Programming
1. programme CNC machine tools
  1. doesn't involve any other equipment so no collisions
  2. part remains in one position so no transformations required
2. generate robot programme away from robot
3. programme created on computer using know data about geometry
4. precise data used
5. robot does not need to be taken out of production
6. Disadvantages
  1. accurate data is required
  2. programmer may have problems visualising movement of robot
    1. need to prevent it from colliding with things
  3. kinematic models required to transform cartesian co-ordinates to joint coordinates
    1. kinematic models not perfect representations
    2. simplified models reduce time but reduce degree of accuracy
  4. costly for all the programming
7. Computer simulations with 3D models of robot cells can be used
8. expected to replace teach programming

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