21br563 Forp Module 05 Notes
Uploaded by
Thanmay JS21br563 Forp Module 05 Notes
Uploaded by
Thanmay JSMysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Fundamentals of Robotics and its Programming
(21BR563)
MODULE 05 NOTES
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Module 5: Course Content
5.0 Methods of Robot Programming:
5.1 Online programming and off-line programming
5.2 Advantages of off-line programming
5.3 Teach pendant
5.4 Robot program as a path in space
5.5 Defining position in space
5.6 Reasons for defining points
5.7 Motion interpolation,
5.8 WAIT, SIGNAL and DELAY commands,
5.9 Branching capabilities.
5.10 Simple program on palletization with Example
5.11 Robot Applications in Engineering and Specific applications in healthcare/Biomedical, Automotive,
Defense and Service domains.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
5.0 Methods of Robot Programming:
Robot programming involves creating instructions that allow the robot to perform tasks autonomously. These
instructions can be written through different methods, depending on the type of robot and the complexity of
the task. The main methods of robot programming are:
1. Offline Programming: The robot’s movements and tasks are simulated and programmed without the
physical robot being active. This is done on a computer in a virtual environment, and the code
generated is transferred to the robot once the program is ready.
2. Online Programming: Involves programming the robot while it is operating. The user directly
interacts with the robot (via a teach pendant, for example) and guides the robot’s motions, which are
recorded and used as part of the program.
5.1 Online Programming and Off-line Programming:
• Online Programming: Online programming involves teaching the robot in real time. The operator
manually guides the robot through various waypoints, recording each point, which the robot can later
follow in the program. This method is useful for tasks that require real-time adjustments or when a fast
solution is needed.
Applications: Common in applications where flexibility and changes to the task are frequent, such as welding,
material handling, and assembly.
• Offline Programming: Offline programming allows the robot’s movements to be simulated and
programmed without the robot being physically involved. Using simulation software, the programmer
can test and refine the robot’s path and actions, and then transfer the program to the robot.
Applications: Suitable for complex tasks requiring high precision and in situations where the robot’s
workspace is shared with human operators, ensuring safety.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
5.2 Advantages of Off-line Programming:
• Reduced Downtime: Since the programming is done offline, the robot does not need to stop
production while programming takes place.
• Increased Flexibility: Changes can be made to the program without interrupting ongoing operations,
and various scenarios can be tested in a simulation.
• Enhanced Accuracy: Errors can be detected and corrected in the simulation before being applied to
the physical robot.
• Better Planning: Multiple robots and tasks can be coordinated and optimized before actual
deployment.
• Safety: Offline programming minimizes risks associated with testing and operating robots, as it does
not require the robot to be running during programming.
5.3 Teach Pendant:
A teach pendant is a handheld device used for controlling and programming robots. It allows operators to
directly manipulate the robot’s movements, positioning, and programming by moving the robot in space and
recording these movements. The teach pendant typically provides an interface to modify the robot’s task
sequence, and its functionality can range from basic manual control to sophisticated program editing.
Most robot systems are set up for application by programming using a teach pendant (a portable control
device) while in manual mode. In manual mode, a trained worker (programmer) typically uses a teach pendant
to teach a robot its task(s) manually. During the manual mode of operation, the programmer performing the
teaching must have control of the robot and associated equipment and should be familiar with the operations
to be programmed, system interfacing, and control functions of the robot system, application, and other
equipment. When systems and/or applications are large and complex, it could be possible to improperly
activate functions. Since the programmer doing the teaching can be within the restricted space, such mistakes
can result in injuries.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
5.4 Robot Program as a Path in Space:
A robot program can be seen as a series of waypoints or positions that the robot must move through in space.
These waypoints define a path in three-dimensional space, and the robot’s task is to travel from one point to
the next while performing specific actions. The path may involve straight lines or curves, depending on the
task and the robot's capabilities. The key here is the sequence of positions that defines the trajectory or
workspace for the robot.
5.5 Defining Position in Space:
To program a robot, its position in space must be defined relative to its own frame of reference (i.e., the robot's
base or end-effector) and the world frame of reference (global coordinates). Positions in space are typically
expressed as coordinates (x, y, z), where:
• X, Y, Z represent the robot's position along the three Cartesian axes.
• Orientation: The robot's orientation (rotation) is defined by angles, often using Euler angles or a
rotation matrix.
For precision tasks, advanced techniques like coordinate transformations are employed to convert between
different coordinate systems.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
5.6 Reasons for Defining Points:
• Accuracy: Defining specific points ensures the robot moves to the correct locations.
• Repeatability: By defining points precisely, the robot can return to the same position multiple times
without error.
• Task Specificity: In tasks like assembly or welding, the robot must reach specific positions at precise
times, and defining points allows for this control.
• Path Control: Defining points allows for the definition of a path that the robot follows, either in
straight lines or curves.
5.7 Motion Interpolation:
Motion interpolation is the method used to smoothly transition between two or more points in space. The
primary types of interpolation are:
• Linear Interpolation (LIN): The robot moves in a straight line from one point to another.
• Circular Interpolation (CIRC): The robot moves along a circular arc between two points.
• Spline Interpolation: More complex curves can be generated using splines, which define smooth
curves based on a set of control points.
These techniques ensure that the robot moves with smooth trajectories, reducing wear on components and
ensuring precision in tasks like painting or assembly.
5.8 WAIT, SIGNAL, and DELAY Commands:
• WAIT Command: The robot waits for a specific condition or signal before continuing with the
program. It could wait for a certain sensor reading or an input from another system.
• SIGNAL Command: Sends signals from the robot to other systems or devices (like a conveyor or
another robot) to trigger actions. It helps in coordinating tasks across multiple devices or robots.
• DELAY Command: Introduces a pause in the program for a specified duration. This is useful for
timing and ensuring certain actions happen sequentially or with adequate intervals.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
5.9 Branching Capabilities:
Branching in robot programming allows the robot to make decisions based on specific conditions. Similar to
conditional statements in programming, branching enables robots to choose different paths or actions
depending on the situation. Common branching instructions include:
• IF-ELSE: Executes different actions based on whether a condition is true or false.
• LOOPING: Repeats actions for a set number of iterations or until a condition is met.
• SWITCH/CASE: Based on different conditions, the robot executes different sets of actions.
5.10 Simple Program on Palletization with Example:
Palletization refers to the task of arranging products onto a pallet in a specific configuration. A simple program
for palletizing might involve the following steps:
1. Move to Pick up Position: The robot moves to a position to pick up the item.
2. Grasp Object: The robot picks up the object using its gripper.
3. Move to Pallet Position: The robot moves to the pallet, aligning itself for placement.
4. Release Object: The robot releases the object on the pallet in the correct location.
5. Repeat: The robot repeats the process for subsequent items until the pallet is fully loaded.
Example (simplified pseudocode):
BEGIN
FOR i = 1 TO NumberOfItems
MOVE TO PickupPosition(i)
GRAB Object
MOVE TO PalletPosition(i)
RELEASE Object
END FOR
END
5.11 Robot Applications in Engineering and Specific Applications in Healthcare/Biomedical,
Automotive, Defense, and Service Domains:
1. Healthcare/Biomedical:
• Surgical Robots: Assist surgeons in performing minimally invasive surgery with higher precision.
• Rehabilitation Robots: Aid patients in physical therapy and recovery through repetitive motion
exercises.
• Lab Automation: Robots perform tasks like sample sorting, testing, and analysis in laboratories.
2. Automotive:
• Assembly Line Robots: Used for tasks like welding, painting, and part assembly.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
• Material Handling: Robots transport components between different stages of production.
• Inspection Robots: Check vehicle components for defects using sensors and cameras.
3. Defense:
• Bomb Disposal Robots: Handle and neutralize dangerous explosives remotely.
• Surveillance Robots: Conduct reconnaissance in dangerous or hard-to-reach environments.
• Weapon Systems: Robots equipped with weaponry for military operations.
4. Service:
• Customer Service Robots: Provide information and services in hotels, airports, and other public
spaces.
• Cleaning Robots: Clean homes, offices, and industrial spaces autonomously.
• Delivery Robots: Deliver goods within a local area or business setting, such as food or parcels.
These robots significantly enhance efficiency, safety, and accuracy in various fields, reducing human error and
increasing the capabilities of industries across the globe.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
Mysore University School of Engineering
8J99+QC7, Manasa Gangothiri, Mysuru, Karnataka 570006
Modal Questions
3 to 4 Marks Questions
1) Explain Methods of Robot Programming:
2) Explain Online programming and off-line programming
3) What are the Advantages of off-line programming
4) Sketch and Explain Teach pendant Layout
5) Explain the concept of Robot program as a path in space
6) Define position in space and Reasons for defining points
7) What are the types of Motion interpolation in Robot Programming
8 to 10 Marks Questions
1) Write short note for the following with respect to Robot Programming:
a) WAIT commands
b) SIGNAL commands
c) DELAY commands
d) IF-ELSE Branching
e) LOOPING
f) SWITCH/CASE
2) Write a Simple Example program on palletization in terms of Robot Programming
3) Robot Applications in Engineering and Specific applications in healthcare/Biomedical, Automotive,
Defense and Service domains.
Prepared by: Mr Thanmay J S, Assistant Professor, Bio-Medical & Robotics Engineering, UoM, SoE, Mysore 57006
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