PROGRAMMING PRINCIPLES

Mariano Enrique de Jesus Flores MI-53

When programming a manipulator, what is usually needed is to position its end point at
a specific location in space, also determining the direction of approach to the
this is also defined. But it is not only important that the handler achieves
certain points in space, but do it at the right moment. Thus, it is necessary
distinguish between:

Path, sequence of points in space.

Trajectory, a path subject to temporary conditions.

Generally, it is necessary to design and program trajectories, straight or arbitrary curves in the
Cartesian space, for which it is important to understand the relationship between the Cartesian trajectory.
of the terminal point and the joints. In the design of the trajectories, it is necessary to consider
counts factors such as:

The prevention of possible collisions with objects

of the environment.

The maintenance of a fixed orientation of the

terminal element (liquid transport)
welding, etc.)
The use of moderate accelerations,
ways to avoid high inertial forces
that are inadequate for the engines.

There are certain circumstances that make robot programming languages

relatively different from the rest:

The environment in which the robot operates cannot normally be described in terms
purely quantitative.
Unusual conditions need to be included, such as the commented collision prevention.

The actions of the robot are subject to inaccuracies that can lead to incidents that the
the program must be able to process.

Certain information from the system's sensors may be not only difficult to process in
real time, but also ambiguous.

1. Characteristics of languages

Usually, programming a robot is a continuous process of trial and error.

Hello, most programming environments are interpreted, allowing one to carry out a
step-by-step tracking of what is programmed and avoid the edit-compile-run-reprogram cycle,
expensive time. A good debugging capability and step-by-step execution is desirable. A
A programming language for robots could be considered ideal or universal if it met the
following requirements:

Provide conventional data types (integers, real numbers ...) but also others.
specific to:
The positioning and spatial orientation of the actuating elements.

The verification of events, that is, the punctual or continuous collection of information from the
signals generated by the sensors and their storage in sensory variables. These variables
they are of global scope and are not explicitly initialized in the program, like variables
conventional. Additionally, it must incorporate elements of prioritizing events in case of
simultaneous activation of multiple sensors.

Incorporate movement orders of the actuators in the

Cartesian space, simple and with the possibility of choosing the
trajectory of the terminal point between the current position and the
final. Likewise, it should be possible to memorize the position
current to continue a movement in case of
abnormal interruption. It must also have orders.
specific for the implementation of delays (waiting until
that the execution of a movement is concluded.

Provide specific mechanisms for the initialization and termination of the robot's actions,
how the self-test and initial calibration can be, or the positioning in some coordinates
specific at the beginning or at the end of the operation.

Incorporate event synchronization means that modify the normal task depending on the
occurrence of certain events or the arrival of certain signals. The actions of a robot are
they normally synchronize to attend to four types of events:

Activation. Start the action upon receiving a signal.

Termination. End the action upon receiving a signal.
Error. Start a recovery sequence in response to an error signal.
Cancellation. To terminate an action in the absence of a signal of termination in a tempo.
established.
Provide concurrency or parallelism, so that they can be controlled.
simultaneously all its joints and allow simultaneous operation with
other robots. This can be achieved through:
A language that allows concurrency.
A software that simulates parallelism by distributing the processor's time.
Using various computing elements (several microcontrollers)
 Enable communication between
processes when several coexist
simultaneously. This can be
carry out by means of:
The use of shared memory.
The remote call to
procedures.
The sending of messages.
Enjoy portability to any
type of equipment of which
dispose, regardless of the
robot type, of sensors, of
actuators and terminal elements.

Current programming languages do not strictly verify all the detailed requirements.
but there are several that are useful depending on the specific task for which they are used
destna.

Programming methods

Based on the syntax of the language and its complexity, three types can be distinguished:

Instruction sequencers. They store a sequence of positions and actions (for

example, the opening or closing of the clamp of a manipulator), to repeat it later in a
practically fixed order. The robot learns these positions and actions through:

The movement of the robot is controlled by a special keyboard called a teach pendant, a mouse or a
a joystick.

The manual movement of it and the storage of the encoder positions.

Specific languages for robots. Usually designed by each commercial organization for their
robots, taking into account only their own sensors and actuators. Generally
they also incorporate description and reasoning in geometric terms and interfaces to systems
of CAD/CAM.

Extensions of classical languages. These are specific expansion modules for handling
of sensors and actuators, developed for general-purpose languages like C, PASCAL or
BASIC, which preserves the general syntax and control flow methods of them.

On the other hand, depending on the level of abstraction they allow when specifying the task,
languages can be:
Oriented towards the robot.
Task-oriented.
The instructions of robot-oriented languages are commands for reading the state of the
sensors and for the movement of the actuators. The programmer must establish in a way
sequentially, what will be the behavior of the actuators based on the signals of the
sensors. These languages can be subdivided into three levels:
Of learning. These are expanded instruction sequencers. They allow for the
automatic reading of position variables and their modification in text mode. They have
simple control structures and sensor check instructions that are
insertables in the sequence of movements learned through interfaces with menus.
Examples of programming languages are APT (Automatically Programmed Tools) and MCL.
(Macintosh Common LISP).

Structured. With flexible structures for the definition of positions, orientations and
manipulation. They allow for the periodic or continuous verification of sensory signals, and
the execution of approach movements in any direction of space
cartesian

Experimental or prototype research. These are languages similar to those of

learning

whose result is not a mere repetition of actions, but the generation of

programs with movement instructions and free variables, which can be edited with
priority to modify the absolute positions and add instructions of
verification of sensory signals; an example is the language LM (Language Model).

Or, they teach the robot sensory strategies by extracting key values from among
all sensory values stored - thanks to the detection of the situations in which they are
has modified or interrupted the movement-. An example of this is language
XPROBE.

In task-oriented languages, the programmer must establish what actions are

you must run the robot but you don't necessarily have to detail how to do it. It's the system that
that decides which movements and sensory checks to perform, and in what order. The
decisions are made based on:

The proposed objectives.

The state of the robot world at any given moment.

Calibration of the Robot Tool

The tool calibration system

advintec TCP calibrates the tool
electronically and up to six
dimensions. The robot program is
corrects automatically for the
variations measured and ensure that the
tool always works in the
correct position. Advintec TCP is a
high-precision calibration system
what is used for all types of robots and
for machines with tools
rotational symmetrics, this makes it independent of specific manufacturers.

Applications of tool calibration for robot TCP:

Arc welding: Automated calibration of the torch and correction of TCP in 2D, 3D or
5D, including the verification of the wire centering. The calibration system can be
integrate directly into the cleaning station of the torch. Another alternative is that the
The system takes control of the blower cleaner through an integrated I/O module.
Bolt welding: Automatic calibration of a welding head
asparagus. Exact calculation of the tool axis along the line of
movement of the slide (calibration TCP-5D).
Milling/Drilling: Automatic calibration of milling tools and drills
drill including tool break detection. Intended for chucks
with automatic tool changers. Stores the dimensions of multiple
tools and check if the correct tool was loaded.
Sealing: Automatic calibration of sealing nozzles with geometries
customized. Very precise calculation of the position and orientation of the TCP, including the
review of the nozzle geometry and detection of sealant accumulation.
Handling: 6D automated calibration of robotic grippers. Ideally suitable for
tool changers and high precision applications such as the assembly of
power train. Compensation for thermal deviation.
 Customized Calibration Systems for Tool Positioning for the
Collection of Containers, Handling of Materials

When the robots are calibrated, the offline programs generated in a previous simulation are
they compare with the physical conditions of the system in production. After all, even the
the slightest variation can interrupt or even halt the production process. With so many
years of experience in the sensor area, we meet the requirements to calibrate robots. We use
our high-precision measurement systems, which can also be used online, at
just like devices, cameras, and laser trackers developed specifically based on their
needs.

Guide the robot through an electronic component calibration system

Calibrate the position of the part (translation and rotation) using integrated sensors
inside the clamp
Automatic adjustment of the collection position
Benefits of personalized calibration for positioning systems:
Cost savings compared to conventional mechanical systems
Cost reduction and maintenance time as well as downtime caused
due to the robot's collapse
Robot orientation independent of lighting conditions or variations
parts for electronic sensor tools, such as the TCP line
Reduction of training requirements for users and maintenance staff
due to the simplification of the procedure
Compact, lightweight, robust and directly integrated into the clamp, the system can be
condition the production line without modifications that take a long time

MAINTENANCE OF THE INDUSTRIAL ROBOT

When an industrial robot is integrated into the line

production is done with the intention of
reduce unplanned downtime
in production and the probability of failures or
deterioration of the components. The
industrial maintenance has undergone a great
evolution in recent times appearing
the concepts of Preventive Maintenance and
Predictive. But let's clarify the concept of
these.

Preventive maintenance: helps to prevent equipment failure by systematically replacing

the deteriorated components and/or identify and correct the problems before they lead to failure.
This process is carried out with the following steps:

Perform a review of the electrical and mechanical state routine.

System tests.
 Lubrication of shafts and joints.
Replacement of reducer oil.
Measurements and adjustments.

Replacement of parts.
Equipment deterioration record, backup

Predictive maintenance: it is basically the condition monitoring solution (Condition

Monitoring that indicates the different levels of pressure, temperature, and humidity of the system. The
the process would involve:

Proportion of real-time and historical data of asset trends and processes.

It allows operators to detect and diagnose any problem that may become
problems.

Provides analysis and alerts to operators when necessary.

But the application of predictive maintenance solution to each asset in a

installation is simply not profitable.

Having a clear understanding of these concepts can help us save time and money on maintenance.

If industrial robots are properly maintained, they can last many years, even
decades, before needing to be replaced. By maintaining a regular maintenance schedule
preventvo is extending the useful life of your robot exponentially.

The different leading robotics brands recommend scheduling preventive maintenance.

every 12 months others are based on their working hours it is estimated convenient to do so after
the 10,000 hours It is important to check your robot's manual to know at what pace it is
It is advisable to do it.

But planning this maintenance is the most appropriate since having this scheduled the
the halt of its production will be minimal compared to the time we would lose in that case
to suffer an unexpected production halt.