Robotics and Automation Copyright © Texas Education Agency, 2012. All rights reserved. 1

Robot Programming

Languages

Robotics and Automation

Copyright © Texas Education Agency, 2012. All rights reserved.1

INTRODUCTION The purpose of this lesson is to allow

students to develop the ability to use and maintain technological products, processes, and systems.

Students will demonstrate the use of computers to manipulate a robot or automated system and associated subsystems.

2Copyright © Texas Education Agency, 2012. All rights reserved.

TECHNICAL COMMUNICATION Students enrolled in this course will

demonstrate knowledge and skills necessary for the robotic and automation industry. Through implementation of the design process, students will transfer advanced academic skills to component designs in a project-based environment. Students will build prototypes or use simulation software to test their designs. Additionally, students explore career opportunities, employer expectations, and educational needs in the robotic and automation industry.


LESSON SECTIONS TEKS 130.370(c)(5)(A) Demonstrate the use of

computers to manipulate a robot or automated system and associated subsystems.

TEKS 130.370(c)(5)(C) Demonstrate knowledge of process control factors.

- Section I - Robot Program Language Development- Section 2 - Language Classification- Section 3 - On-line and Off-line Robot Programming- Section 4 - Robot Program Steps


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TECHNICAL TERMS & DEFINITIONS (1 OF 4)

The terms and definitions listed below are discussed in this lesson. Please review before proceeding with this lesson.

Terms Definitions

Programming Languages are the basic communication mechanisms between human beings and intelligent machines.

Intelligent Machines are computers programmed to solve problems in business or scientific areas.

Copyright © Texas Education Agency, 2012. All rights reserved.

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Terms Definitions

Software Development focuses on the development of the programming languages and application programs.


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Terms Definitions

Program Development focuses on using the languages and application programs to control an automated process.

Programmers computer science graduates who develop the programming tools (i.e., languages and applications) for industrial applications.

They use programming languages like C or C++.


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Terms Definitions

Automation Programmers handles programming for a number of automation machines like robots, Programmable Logic Controllers (PLCs), Computer Numerical Controlled (CNC) milling machines, vision systems, sensors, or cell-control software.


SECTION I – ROBOT PROGRAM LANGUAGE DEVELOPMENT (1 OF 5)

Robot Programming Languages are used to design:

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Robot Features

1. The control needs of the robot arm.

2. The new control language structures: conditional branching and input/output interfacing.



The T3 robot programming language was used in the 1970s to develop Cincinnati Milacron’s industrial robot.

In the 1970’s, VAL and BASIC programming languages were used to program the Unimation PUMA robot’s motion control commands.



Current robot language designs start with the language control structure and robot arm control needs.

Current development process produces a new general-purpose robot language.

Robot Language supports four system functions:1. Manipulation

2. Sensing

3. Intelligence

4. Data Processing


SECTION I – ROBOT PROGRAM LANGUAGE DEVELOPMENT (4 OF 5) Robot Language supports four system functions:

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Words Definitions

Manipulation To treat or operate with or as if with the hands or by mechanical means especially in a skillful manner. Involves the robot arm and the gripper at the end of the arm.

Sensing To detect automatically especially in response to a physical stimulus (as light or movement).

Intelligence The ability to perform computer functions.

Data Processing The converting of raw data to machine-readable form and its subsequent processing (as storing, updating, rearranging, or printing out) by a computer.



Currently, few guidelines/standards exist for robot control programming languages.

There are only limited interchangeability of computer programs between robot models from the same manufacturer.

There is no interchangeability of computer programs among manufacturers.


SECTION 2 – LANGUAGE CLASSIFICATION (1 OF 6)

Robot Manufacturers use four basic Programming Language Levels:

1. Level 1 – Joint Control Languages

2. Level 2 – Primitive Motion Languages

3. Level 3 – Structured Programming Languages

4. Level 4 – Task-Oriented Languages


LANGUAGE CLASSIFICATION – JOINT CONTROL LANGUAGES (2 OF 6)

Level 1 – Joint Control Languages

- Concentrates on the physical control robot motion.

- Commands expressed in terms of joint and axes position.

- Mostly point-to-point and stop-to-stop robots.- Used on most stop-to-stop pneumatic robots.


LANGUAGE CLASSIFICATION – JOINT CONTROL LANGUAGES (3A OF 6)

Level 2 – Primitive Motion Languages

- Confined to older robot programming languages.- Program editing capability is provided.- Commands expressed in terms of program points;

program point is generated by moving the robot to a desired point and depressing a program switch; sequence of points is saved; producing a complete program.

- Permits simple subroutines and branching.


LANGUAGE CLASSIFICATION – JOINT CONTROL LANGUAGES (3B OF 6)

Level 2 – Primitive Motion Languages

VAL

AL

RAIL

T3

RoboTalk

RPL

ArmBASIC



Level 3 – Structured Programming Languages- Offers major improvements over primitive motion

languages.- Has become the standard for major vendors of robots.- Provides a structured control format.- Supports complex data structures, branching, and

subroutines. - Communication capability with local area network is

available.- Supports off-line programming.



Level 4 – Task-Oriented Languages

- Conceals from the user the commands and program structure that normally must be written by the programmer.

- User is only concerned with solving the manufacturing problem.

- Permits programming in natural language. For example, “Put bracket A on top of bracket B.”

- A plan generation feature allows re-planning of robot motion to avoid undesirable situations.

- A world modeling systems permits the robot to keep track of objects.

- The inclusion of collision avoidance permits accident-free-motion.


SECTION 2 – LANGUAGE CLASSIFICATION (6 OF 6)

Programming Languages by Level

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Level 2 Level 3 Level 4

RAPID

V

V+

T3

KARL

AML AUTOPASS

AML/E

AS

MCL

PARL-1

RoboTalk

Sankyo language

DARL II

VAL VAL II


SECTION 3 – ON-LINE AND OFF-LINE ROBOT PROGRAMMING

What is On-line and Off-line Programming?

On-line and Off-line Programming is the location where the robot program is developed.

On-line Programming – the production operation is stopped and the programmer puts the robot into the programming mode.

Off-line Programming – is performed away from the robot and the production area.


SECTION 4 – ROBOT PROGRAM STEPS (1 OF 9 SLIDES)

Robot Programmers use 8 steps to develop a robot program.

Step 1 – Basic Program Structure

Step 2 – Process Analysis

Step 3 – Tasks and Subtasks

Step 4 – Task Point Graph

Step 5 – System Variables

Step 6 – Write and Enter the Program

Step 7 – Teach the Translation Points

Step 8 – Test and Debug the Program


ROBOT PROGRAM STEPS – STEP 1 BASIC PROGRAM STRUCTURE (2 OF 9 SLIDES)

Step 1 – Basic Program Structure

1. CYCLE START - All programs start at the robot’s HOME position and move out to a start point in the cycle.

2. END OF CYCLE - The final point in the program.


ROBOT PROGRAM STEPS (3 OF 9 SLIDES)

Step 2 – Process Analysis

1. The development of the program starts with the Process Analysis step.

2. The robot programmer must have complete knowledge of the manufacturing process for the robot functions.

3. The robot programmer identifies the required motion and commands; divide the motion into tasks and subtasks.



Step 3 – Tasks and Subtasks

1. The programmer divides the required robot motion into tasks and subtasks.

2. After the tasks and subtasks, the structure of the total robot program is established.



Step 4 – Task Point Graph

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1. Robot Programmers use the task point graph (TPG).

2. The TPG is a visual tool to illustrate the program flow and arm motion required for a manufacturing problem.



Step 5 – System Variables

1. The System Variables are usually included on the task point graph as part of the program development.

2. The variables may include the velocity, tool center dimensions, Cartesian Coordinate Values, language functions, and commands.



Step 6 – Write and Enter the Program

1. After the translation points are identified and the task point graph has been developed, the robot programmer’s final step is to write the robot program code using the command structure and syntax for the controller.



Step 7 – Teach the Translation Points

1. The translation points listed in Step 5 System Variables are taught or created using one of the methods:

a. Method 1 – Apply On-line programming techniques

b. Methods 2 and 5 – Apply Off-line programming techniques



Step 8 – Test and Debug the Program

1. The final step in the development of a robot program is to test the program and correct any problems.


WHAT IS FIRST ROBOTICS?

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FIRST was founded in 1989 to inspire young people's interest and participation in science and technology.


WHAT IS BEST ROBOTICS?

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BEST was founded in 1993 for the purpose of Boosting Engineering, Science, and Technology.


THE ROBOT PROGRAMMING LANGUAGES RUBRICS

How your grade will be calculated.

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Graded Elements Total Points

One Page Essay 50

Response to Questions 20

Proofreading, Grammar and Spelling

20

Reflection 10

Total Points 100


ASSIGNMENT (1 OF 3)Instructions: Students will prepare a slide or internet

presentation on the EasyC and ROBOTC robot programming languages. These robot programming languages are used by robot programmers of the FIRST Robotics Competition and the BEST Robotics Competition.

1. Research internet for free software to create an internet cloud-based presentation.

2. Use the EasyC website to learn more about the EasyC programming language.


ASSIGNMENT (2 OF 3)

3. Use the ROBOTC website to learn more about the ROBOTC programming language.

You will need to include the following information in your presentation. An explanation of what is the EasyC robot programming language. An explanation of what is the ROBOTC robot programming language. What are the similarities between the EasyC and ROBOTC robot

programming languages? What are the differences between the EasyC and ROBOTC robot

programming languages? What robot programming language would you prefer to learn and why? Find a video of the robot programming language (EasyC or ROBOTC) for

your presentation.


ASSIGNMENT (3 OF 3)Reflection: O*NET Online has detailed

descriptions of the world of work for use by job seekers, workforce development and HR professionals, students, researchers, and more! Visit the O*NET Online website (http://www.onetonline.org/). Do you think that this website may help you locate career opportunities in Programming? What types of Programming career opportunities are listed?


REFERENCES (1 OF 2) Introduction to Robotics in CIM Systems

– Fifth Edition by James A. Rehg. The McGraw-Hill Illustrated Encyclopedia

of Robotics Artificial Intelligence by Stan Gibilisco Editor in Chief.

O-NET Online - http://www.onetonline.org

ClipArt – http://www.clipart.com/en/ Merriam-Webster Online Dictionary -

http://www.merriam-webster.com/


http://www.onetonline.org/

http://www.clipart.com/en/

http://www.merriam-webster.com/

REFERENCES (2 OF 2) FIRST Roboticshttp://www.usfirst.org/

BEST (Boosting Engineering, Science, and Technology) http://www.bestinc.org/


http://www.usfirst.org/

http://www.bestinc.org/

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Robotics and Automation Copyright © Texas Education Agency, 2012. All rights reserved. 1