Robot Programming
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This document discusses robot programming methods. It describes leadthrough programming where the robot is taught motions by physically moving it through the required cycles. It also discusses using textual programming languages to enter commands into the robot controller. Additionally, it explains simulation and off-line programming where the program is prepared remotely and downloaded to the robot without using leadthrough methods. Finally, it provides examples of motion commands, interlock/sensor commands, and coordinate systems used in robot programming.
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JRR Tolkien’s Lord of the Rings: Was It Influenced by Nordic Mythology, Homer...Reflections on Morality, Philosophy, and History JRR Tolkien, Tolkien, Lord of the Rings, Nordic Mythology, Mythology, Homer’s Iliad, Homer, Iliad, Catholicism,
How did the Catholic faith of JRR Tolkien influence his classic trilogy, Lord of the Rings?
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Did the legends of Achilles in Homer’s Iliad and the Old Testament stories influence Tolkien’s Lord of the Rings?
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We reflect on whether JRR Tolkien’s Lord of the Rings Influenced by Nordic Mythology, Homer’s Iliad, and/or Catholicism:
• Why the apologetic works by CS Lewis are recommended by Catholics, Protestants, and Orthodox Christians.
• Whether some of the characters and discussions in the Lord of the Rings, Mere Christianity, Chronicles of Narnia were inspired by Hitler, Nazis, and storm troopers.
• Adventures of the hobbits Frodo, Sam, Gandalf, Sauron, and Strider.
• Middle Earth, home of men, elves, dwarves, orcs, and many other creatures.
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• Whether Frodo is like Moses and/or Christ, and whether he is a reluctant prophet.
• Why the One Magical Ring had to be tossed into the lava flowing from Mount Doom in Mordor, and the role of Gollum, and forgiveness.
• Comparing Stoicism and Christianity.
• Inspiration for Tom Bombadil and Goldenberry.
• References to Peter Lombard, King Arthur, Achilles, crossing the Red Sea in Exodus, and Achilles battling the river god.
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Robot Programming
- 3. Thinking about Programming Creating a successful robot takes a team effort between humans and machines. Role of the Robot The robot follows the instructions it is given, thereby carrying out the plan.
- 4. Human/Machine Communication Because humans and robots don’t normally speak the same language, a special language must be used to translate the necessary instructions from human to robot. These human-to-robot languages are called programming languages. Instructions written in them are called programs.
- 5. Robot Programming • Leadthrough programming – Work cycle is taught to robot by moving the manipulator through the required motion cycle and simultaneously entering the program into controller memory for later playback • Robot programming languages – Textual programming language to enter commands into robot controller • Simulation and off-line programming – Program is prepared at a remote computer terminal and downloaded to robot controller for execution without need for leadthrough methods
- 6. Leadthrough Programming 1. Powered leadthrough – Common for point-to- point robots – Uses teach pendant 2. Manual leadthrough – Convenient for continuous path control robots – Human programmer physical moves manipulator
- 7. Leadthrough Programming Advantages • Advantages: – Easily learned by shop personnel – Logical way to teach a robot – No computer programming • Disadvantages: – Downtime during programming – Limited programming logic capability – Not compatible with supervisory control
- 8. Robot Programming • Textural programming languages • Enhanced sensor capabilities • Improved output capabilities to control external equipment • Program logic • Computations and data processing • Communications with supervisory computers
- 9. Coordinate Systems World coordinate system Tool coordinate system
- 10. Motion Commands MOVE P1 HERE P1 - used during lead through of manipulator MOVES P1 DMOVE(4, 125) APPROACH P1, 40 MM DEPART 40 MM DEFINE PATH123 = PATH(P1, P2, P3) MOVE PATH123 SPEED 75
- 11. Interlock and Sensor Commands Interlock Commands WAIT 20, ON SIGNAL 10, ON SIGNAL 10, 6.0 REACT 25, SAFESTOP Gripper Commands OPEN CLOSE CLOSE 25 MM CLOSE 2.0 N
- 13. Cont. • Program is prepared at a remote computer terminal and downloaded to robot controller for execution without need for leadthrough methods • It is carried with the help of different programming software using different programming languages like ROBOTC.
- 14. Thank You