To make it serve itself for performing useful functions like approaching to work piece, automatic motion in workspace, robot programming is very important. Robot programming is important to coordinate various tasks & activities that needed in workspace. Coordination of robot is done by using various sensors & end effectors which can be coordinated by programs and simulation software’s.

1. ROBOT
PROGRAMMING
(TEXTUAL ROBOT PROGRAMMING)
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By Paritosh Chougule

2. OFF-LINE PROGRAMMING
 Introduction
• WAVE
• Val(Victor’s Assembly Language)
• VAL_2
Generations of languages
 First generation
 Second generation
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3. ROBOT PROGRAMMING LANGUAGES
FIRST GENERATION LANGUAGE
 Use a combination of command statements
& teach pedants
 Motion level language
Advanced teach pedant method
Abilities to define manipulators motion ,straight
line interpolation & elementary binary signals.
E.g. VAL
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4. Limitations of first generation languages
 Inability to specify complex arithmetic
operations
 Inability to make use complex sensors &
sensor data
 Limited capability to communicate with other
computers
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5. SECOND GENERATION LANGUAGE
 Structured programming languages
 Improved languages
 More capabilities to make the
robot more intelligent
 E.g.. AML, RAIL, MCL & val-2 etc.
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6.  Features of second generation
programming
 Motion control
 Advanced sensor capabilities
 Limited intelligence
 Communication and data processing
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7. ROBOT LANGUAGE STRUCTURE
Operating System
Robot language elements and functions
• Constants , variables and other data objects
• Motion commands
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8. Motion Commands
MOVE & Related statements
 MOVE P1
 MOVES P1
 MOVE A1 VIA A2
 DMOVE(4, 125)
 APPRO P1, 40 MM
 DEPART 40 MM
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9. Speed control statements
 SPEED 60 IPS
 SPEED 75
Definition of point in workspace
 HERE A1
 DEFINE A1=POINT(50.123 ,236.342 ,344.456,
25.75,125.755)
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10. Paths & Frames
DEFINE PATH1 = PATH(P1, P2, P3)
MOVE PATH1
DEFINE FRAME1=FRAME(A1.A2,A3)
DEFINE ROUTE :FRAME 1=PATH(P1,P2,P3,P4,P5)
MOVES ROUTE:FRAME1
Gripper Commands
OPEN
CLOSE
CLOSE 25 MM
CLOSE 2.0 N
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11. SIMULATION & OFF-LINE PROGRAMMING
 Program is prepared at a remote computer
terminal and downloaded to robot controller for
execution without need for lead through
methods.
 Just as if operator is at one location and he
writes the program for the robot located at
some remote location.
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THANK YOU