Industrial robot

programming

RESUME What is Industrial Robotics?

Industrial robotics is a large industry and it Robotics in industry is a branch of engineering

is evolving at great speed. Technology has that incorporates multiple disciplines to design,
changed dramatically in recent decades, as build, program and use robotic equipment.
has the volume and variety of uses.Not so Likewise, it refers to the use of control systems,
long ago, robots were only present on our computers and information technology for the
television screens, in cinemas, and in management of various processes and machinery
children's toys. They had almost no role in in an industry.
our society. However, things have changed a
lot in recent years. Nowadays, robots are in The ultimate goal is to replace manual labor and
charge of numerous tasks that humans used increase efficiency, speed, and overall
to do, such as assembling things (cars, performance.
appliances, gadgets), performing surgeries,
painting parts, etc.
Components of an industrial robot

An industrial robot is designed with three

main components:

• The mechanics, which represents what is

actually seen of the robot. This part is
There is a wide variety of applications in important for the precision, speed and
industrial automation that industrial robotics payload of the robot.
is ready to perform.

• Electronics allow the control system to drive

Robotics is a scientific discipline that all motors and obtain environmental
addresses the research and development of information from sensors.
a particular class of mechanical systems,
called manipulative robots, designed to
perform a wide variety of industrial, • The computing that makes the robot
scientific, domestic, and commercial "intelligent" through collaboration with the
applications. robot environment and the user

Until now robots have been used for very

specific tasks. With better computers and
artificial intelligence, they will be able to
evolve into a new kind of intelligence. Robots
will soon be able to fully interact with their Passive Guidance by Mannequin
environment.

The physical difficulty of moving the entire

Guided programming structure of the robot is solved through this
The first method, the guided programming procedure. In this case, a double of the robot
consists of making the robot perform the task is available, while it remains offline. The
by moving its joints manually at the same double has an identical configuration as the
time as the movements captured by the real robot, but it is much lighter and easier to
sensors are recorded, for subsequent move. Programming is carried out by taking
automatic repetition, it should be noted that this double by the hand, while the control unit
this guided programming can be performed samples and stores the values taken by the
By making a scale model of the robot to joint position sensors with a certain
facilitate the movement of the joints, this frequency, for subsequent repetition by the
guidance programming described above is robot. An example is the case of the painting
called passive guidance since the individual robots manufactured by Nord son, which are
who manipulates the robot has to provide the programmed using this procedure.
necessary force to move the joints through
the desired points. Facing passive guidance
systems since it is very difficult to move the
robot due to its great weight and volume,
buttons or a control knob (joystick) can be Basic Guidance
implemented to move the robot with its own
actuators.  The robot is guided by the points through
which it is desired to pass during the
Active Guidance
automatic execution phase of the program.
This possibility allows the robot's own drive system During this, the control unit interpolates said
to be used, controlled from a button or control lever points according to certain trajectories. Many
(known as a joystick) so that it is the one who times it is not possible to include any type of
moves its joints. control structures within the program, so the
points are always traversed sequentially, in
the same order that they were programmed.
An example of this type of programming is
that used in almost all painting robots, where
the control unit automatically samples the
Direct Passive Guidance points traveled by the robot with a very high
frequency.
In this case, the programmer can take the
end of the robot and take it to the desired  Extended Guidance
points through the most suitable trajectories.
The robot control unit automatically records It allows specifying, together with the points
the signal from the joint position sensors at all through which the robot must pass, data
points traveled. An example is the case of related to speed, type of trajectory, precision
Gaiotto's painting robots, which were with which the points are to be reached,
programmed with this procedure. control of the program flow, attention to
binary inputs / outputs, etc. In this case, the The robotic Teach Pendant, it is the one
guided method used is that of the keypad or destined to the manual use of it.
joystick. Extended guidance increases the
power of the programming system. Online programming systems uses a teach
pendant to direct the robot’s movement which
Direct learning allows trained personnel to physically lead
the robot through the desired sequence of
The manipulation of the wrist or arm to bring events by activating the appropriate
it to the programming points during the
automatic execution phase is called direct pendant button or switch. Position data and
learning. In this step, the system control unit functional information are“taught” to the robot,
performs an interpolation of the established and a new program is written.
points, according to the chosen path. In
general, the points are traversed sequentially Online programming is a convenient easy
in the order that they are programmed, method when tasks are simple, and revisions
because sometimes it is not possible to or adjustments are required to be made on
interfere with control structures within the the spot. However, the production line must
program. This type of programming does not be stopped during the programming and
allow the reduction of points for the editing of safety issues must be considered.
trajectories, due to the generation of
discontinuities, so to generate a continuous The computerlead-through
trajectory it is necessary to have a large programming.
number of points. It is a simple method of
programming, without complexities that This requires that the manipulator be driven
through the various motions needed to
allows to realize fast trajectories for simple
perform a given task, recording the motions
processes within the industry. into the robot’s computer memory. This can
be done either by physically moving the
Online programming manipulator through the motion sequence or
by using a control box to drive the
Online programming means teaching about manipulator through the sequence
the real robot. The close connection between
teaching, programming and testing allows Continuous walk-through mode
you to evaluate various solution approaches
In this mode all joints are moved
directly on the real robot in the shortest
simultaneously, while the motion is
possible time. Plus, you can teach key poses
continuously sampled and recorded by the
to reproduce directly in ArtiMinds RPS.
controller. During the playback, the exact
Especially when programming demanding
motion that was recorded is executed. Motion
applications, these possibilities and features
is taught by an operator by physically moving
are a great benefit, as the complexity of the
the end effector or “wearing” the robotic arm
processes requires a lot of testing and
and moving it through task.
review.
Lead-through programming requires the
Generally industrial robotic arms have two
operator to move the robot arm through the
fundamental elements for its functioning
desired motion path during a teach
procedure, thereby entering the program into
The CPU, generally called the robot’s
the controller for subsequent playback.
controller.
 Java
JavaScript
Powered lead-through SQL

is used as the programming method for

playback robots with point-to-point control. It
involves the use of a teach pendant. Using
the toggle switches or buttons, the
programmer drives the robot arm to the
desired positions, in sequence, and records
the positions into the controller memory.

The lead-through methods provide a very natural

way of programming motion commands into the LISP
robot controller. In manual lead-through mode,
the operator simply moves the arm through the
required path to create the program. In powered LISP is the second oldest programming
lead-through, the operator uses a teach pendant to language in the world (1958), only one year
drive the manipulator to the required positions in younger than Fortran (1957). The term
the workspace. Artificial Intelligence was created by John
McCarthy, who invented LISP.
World coordinate system LISP was founded on the theory of recursive
functions (a function appears in its own
origin and frame reference are defined with definition). Recursive functions can be written
respect to some fixed position and alignment as self-modifying functions, and this is well
relative to the robot base. suited for AI programs where "self-learning" is
an important part of the Program

R
Tool coordinate system
R is a programming language for graphics
In this mode, the alignment of the axis system and statistical computing. R is supported by
is defined relative to the orientation of the the R Foundation for Statistical Computing. R
wrist face plate (to which the end effector is comes with an extensive set of statistical and
attached to). graphing techniques for:

Linear modeling
AI programming Nonlinear modeling

The programming languages involved in AI C ++

are:
C ++ has the title: "The fastest programming
LISP language in the world." Due to speed, C ++ is
R a preferred language when programming
Piton computer games.
C ++
It provides faster execution and has less
response time than is applied in search
engines and computer game development.
Google uses C ++ in artificial intelligence
programs for SEO (search engine
optimization).

Java

Java is another general-purpose coding Simulation / Offline programming

language that can be used for all types of
software development. Offline programming, or simulation, is most
often used in robotics research to ensure that
For AI, Java is used primarily to create advanced control algorithms are working
machine learning solutions, search properly before passing them on to a real
algorithms, and neural networks robot.

Teach Pendant interface However, it is also used in industry to reduce

downtime and improve efficiency.
The most used method in robot programming
is probably through the Teach Pendant user
It can be a particularly useful method for
interface. According to the British Association
SMBs, as robots are more likely to be
for Automation and Robots, more than 90%
configured multiple times than in large-scale
of robots are programmed with this method.
production environments.
This console has changed a lot over the
years, but its morphology is similar to a giant
handheld calculator. Scheduling offline means that this doesn't
interfere too much with production. Offline
programming allows you to program the robot
The Teach Pendants were large gray boxes
using a virtual mockup of the robot and on the
with magnetic tape storage. Modern ones are
job.
more like a touchscreen tablet, as the
technology has been developed to
accommodate ever-evolving users. If the simulation software is intuitive to use, it
can be a quick way to test an idea before
transferring it to the robot.
To program the robot, the operator moves it
from one point to another, using the interface
buttons for its movement and thus, saving Some modern simulation packages are quite
each position individually. When the entire easy to use. The simulation can be set up in
program has been memorized, the robot can a matter of minutes, once you are familiar
play the points at full speed. with the software, using a library of robots.

Programming languages for

industrial robots
Most industrial robots are programmed by del-control-numerico-a-los-frameworks-
guiding a robot from one point to another roboticos
through the phases of an operation, with each
point stored in the robot's control system. Reyes cortes, F. (2011, marzo). Robótica - control
de robots manipuladores: Vol. primera
Most programming languages are written in edicion (Alfaomega Grupo Editor .S.A. de
C.V.Mexico ed.). Alfaomega Grupo Editor .S.A.
plain text, which is easy for humans to de C.V.Mexico.
understand. Programs are compiled into
source code for a processor to run (or
bytecode, for a virtual machine to run). A. (2020, 1 diciembre). Cómo funciona la
Robótica Industrial. aula21 | Formación
para la Industria.
There are numerous programming languages https://www.cursosaula21.com/como-
available, for example C / C ++, Java, funciona-la-robotica-industrial/
Fortran, Python, etc.
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A. (2020, 1 diciembre). Cómo funciona la

Robótica Industrial. aula21 |
Formación para la Industria.
https://www.cursosaula21.com/como-
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