Genetic Engineering

Robotics and Automation

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

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The purpose of this lesson is to allow students to develop the ability to use and maintain technological products, processes, and systems.

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


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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 projectbased 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.


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 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.

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

Terms

Programming Languages

Intelligent Machines

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

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


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Terms

Software Development

Definitions focuses on the development of the programming languages and application programs.


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Terms Definitions

Program Development

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

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

Automation Programmers

Definitions handles programming for a number of automation machines like robots,

Programmable Logic

Controllers (PLCs),

Computer

Numerical Controlled (CNC) m illing machines, vision systems, sensors, or cellcontrol software.


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 Robot Programming Languages are used to design:

Robot Features

1. The control needs of the robot arm.

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


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

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In the 1970’s, VAL and BASIC programming languages were used to program the Unimation

PUMA robot’s motion control commands.


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 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.

2.

3.

4.

Manipulation

Sensing

Intelligence

Data Processing


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 Robot Language supports four system functions:

Words

Manipulation

Definitions

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

Intelligence

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

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.


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 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.


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 Robot Manufacturers use four basic

Programming Language Levels:

3.

4.

1.

2.

Level 1 – Joint Control Languages

Level 2 – Primitive Motion Languages

Level 3

– Structured Programming Languages

Level 4 – Task-Oriented Languages


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 Level 1 – Joint Control Languages

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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.


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 Level 2 – Primitive Motion Languages

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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.


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 Level 2 – Primitive Motion Languages

VAL

AL

RAIL

T3

RoboTalk

RPL

ArmBASIC


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 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.


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 Level 4 – Task-Oriented Languages

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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-freemotion.


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Programming Languages by Level

Level 2 Level 3 Level 4

RAPID

V

V+

T3

KARL

AML

AML/E

AS

MCL

PARL-1

AUTOPASS

RoboTalk

VAL

Sankyo language

DARL II

VAL II


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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.


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 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


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 Step 1 – Basic Program Structure

1.

2.

CYCLE START All programs start at the robot’s

HOME position and move out to a start point in the cycle.

END OF CYCLE - The final point in the program.


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 Step 2 – Process Analysis

1.

2.

3.

The development of the program starts with the

Process Analysis step.

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

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


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 Step 3 – Tasks and Subtasks

1.

2.

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

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


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 Step 4 – Task Point Graph

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.


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 Step 5 – System Variables

1.

2.

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

The variables may include the velocity, tool center dimensions, Cartesian Coordinate

Values, language functions, and commands.


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 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.


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Step 7 – Teach the Translation Points a.

b.

1.

The translation points listed in Step 5 System

Variables are taught or created using one of the methods:

Method 1 – Apply On-line programming techniques

Methods 2 and 5 – Apply Off-line programming techniques


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 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.


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


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BEST was founded in 1993 for the purpose of B oosting E ngineering,

S cience, and T echnology.


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How your grade will be calculated.

Graded Elements

One Page Essay

Response to Questions

Proofreading, Grammar and Spelling

Reflection

Total Points

Total Points

50

20

20

10

100


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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 cloudbased presentation.

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


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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.

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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?

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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.


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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?


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

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.

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

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ClipArt – http://www.clipart.com/en/

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Merriam-Webster Online Dictionary http://www.merriam-webster.com/


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

FIRST Robotics http://www.usfirst.org/

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BEST (Boosting Engineering, Science, and

Technology) http://www.bestinc.org/


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Robotics and Automation

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