ROBOT LANGUAGES

INTRODUCTION:

Most of the robot languages implemented today use the combination of

textual programming and teach pendant programming. The textual
language is used to define the logic and the sequence of the program,
while the specific point in the workspace are defined using a teach
pendant control. The program can be written offline with the textual
language while the points must be defined online with the teach
pendant.
TEXTUAL ROBOT LANGUAGES:

The first textual Robot Language was WAVE [1970]. This research
demonstrated the feasibility of the robot hand eye coordination.
Subsequent languages begun in 1974 which were called Assembly
Language (AL) and were used to control multiple tasks requiring arm
coordination.
Victor's Assembly Language (VAL) : Combination of WAVE & AL,
developed in 1979.
VAL II : Upgraded version, 1984.
IBM Languages: AUTOPASS & A Manufacturing Language (AML)
Automatically Programmed Tooling (APT) developed by US Air
Force.
ROBOT PROGRAMMING LANGUAGE
GENERATIONS:

First Generation:

Combination of command statement and teach pendant.

Also called motion level language, used to control the motion
with the text.
Features include Manipulator motion, straight line interpolation,
branching, elementary sensor commands (ON/OFF).
MOVE / WAIT / BRANCH Command: To define manipulator motion.
Limitations:
Inability to specify complex arithematic computation, make use of complex
sensor and sensor data.
Limited communication capacity with other computers.
Cannot be readily extended for future enhancement.
Examples: WAVE, VAL
Second Generation:

Designed to overcome the inability of first generation to complete

complex tasks.
Makes robot more intelligent than First Generation.
Also called structural programming language.
Features:
Motion control : Commands same as First Generation, but advanced motion
control (circle, plane & cylinder)
Advanced sensor capabilities: Gripper control by use of analog signals,
measuring force, etc.
Limited intelligence: Can be programmed to appear intelligent.
Communication and data processing capability: Keep record and generate
report
Examples: Manufacturing Control Language (MCL) based on APT,
VAL II, AML.
Future Generation:

Concept of world modelling which includes :

Model based language: Generation of 3D model from physical object or
geometric data
Task object language: Self programming language, develop own step by
step plan and implement it. E.g. Programmer type ASSEMBLE OBJECT
and robot adapts itself to step by step execution to complete task.

Can be used in Artificial Intelligence.

Limitation: Always positional error is there between actual physical
object and computer model used by robot e.g. in an intricate
assembly may mean difference between success and failure.
 ROBOT LANGUAGE STRUCTURE

A language must be designed to operate bigger robot systems as

shown in the figure on next page.
A language should also support data communications with other
computer systems.
A language must be able to control manipulator, peripheral devices,
sensors, etc.
Diagram of robot system showing various components of the system that must
be coordinated by means of language
Operating systems:

A CRT monitor, alphanumeric keyboard and a teach pendant are

required to program a robot.
Storage element is also required such as magnetic tape or compact
disk.
Programmmer must be able to run, save, edit and execute a
program.
The whole system comprising above 3 points constitute the
operating system.
Purpose of operating program is to facilitate the operation of a
computer and maximize performance and efficiency of the system
along with peripheral devices.
Modes of Operating System:
Monitor Mode

It is also called supervisory mode.

In this user defines the location in space using teach pendant.
Sets the speed control, stores the program, transfers the program from
storage to back in the control memory.
Move back and forth between the other modes like edit or run.

Run Mode

Used for executing a robot program.

Robot performs the sequence of instructions given in the program.
Can be used for debugging the existing program. Often allows to swtich to
edit mode to redifine the points or adjust the program.
Switching back and forth while executing a program possesses inherent
dangers.
 Edit Mode:

Allows the user to edit the existing program or write a new program.
This mode differs from language to language.
Programmer may write new lines, delete existing lines or insert new lines
between the program.
The robot language program is processed by either an interpreter
or a compiler.

Interpreter is a program in OS that executes each instruction

one at a time. E.g. VAL

Compiler is a program in OS that

1. Passes through the entire source program.
2. Pretranslates the instruction into machine level code that a robot
controller can read and execute.

Compiled program results in a faster execution but interpreter

can be edited more readily since recompilation of the entire
program is not required.
Few common commands used in robot programming:

DEFINE : To define a position, path in the space.

DEFINE A1= [X Y Z ]
DEFINE PATH= PATH (A1,A2,A3,A4)
MOVE: Move to a defined position.
MOVE A1, MOVE A1 VIA A2, MOVE PATH
SPEED: Define the velocity of robot's arm.
SPEED 60 IPS
SIGNAL: To switch on or off a output signal.
SIGNAL 5 ON, SIGNAL 6 OFF
WAIT: To keep the device waiting before sending any signal.
WAIT 15 ON
GOTO: To execute a subroutine program.
GOTO 10
STOP: To terminate the motion of robot instantaneously.
STOP2, STOP3
Thank You.