UNIT-4

1. Discuss the following methods of robot programming:

- Lead-Through Teaching

- Walk-Through Teaching

- Off-Line Programming

1. Lead-Through Teaching

What is it?

• The robot is physically guided through the desired path by a human operator.

• The robot’s movements are recorded and stored in memory.

• Used mainly in industrial robots like painting, welding, etc.

Advantages:

• Very simple, no coding knowledge needed.

• Operator can feel and see the motion clearly.

• Best for continuous-path applications (e.g., spray painting).

Disadvantages:

• Not suitable for precise tasks.

• Not repeatable with high accuracy.

• Time-consuming to teach complex motions.

2. Walk-Through Teaching

What is it?

• The operator physically walks with the robot arm (if it’s lightweight) or moves a dummy
arm, and the robot records the position data.

Advantages:

• Easy to use for non-technical staff.

• Good for teaching paths in free-form environments.

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Disadvantages:

• Not possible with heavy-duty robots.

• Accuracy depends on how carefully it’s done.

• Not useful for high-speed or high-precision industries.

3. Off-Line Programming

What is it?

• The program is written and tested on a computer using simulation software before being
transferred to the robot.

• No need to stop the robot while programming.

Advantages:

• Robot can continue working during programming = saves time.

• Programs can be tested in advance using simulations.

• Safe for dangerous tasks or hard-to-reach areas.

Disadvantages:

• Needs accurate robot model and environment setup.

• Requires software tools and trained personnel.

• Any mismatch between virtual and real-world setup can cause errors.

2. Explain the Advantages and Disadvantages of Off-Line Programming in

Robots.
What is Off-Line Programming?
• In Off-Line Programming (OLP), the robot program is written, simulated, and
tested on a computer, not on the actual robot.
• Once verified, the code is uploaded to the robot.
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• The robot keeps working while programming is happening — so there’s no

production delay.

Advantages of Off-Line Programming:

Advantage Explanation

1. No production Robot can keep working while new program is being

downtime developed

Programming and testing happen simultaneously with

2. Time-saving
robot operation

3. Simulation
Motion paths can be tested safely using 3D models
environment

4. Safe for hazardous No need for human to go near dangerous machines or

tasks high-heat areas

Virtual tools give precise control over paths and joint

5. Better accuracy
limits

Programs can be reused and modified easily across

6. Reusability
similar setups

7. Cost-effective in long
Reduces downtime costs in big factories
term

Disadvantages of Off-Line Programming:

Disadvantage Explanation

Requires 100% accurate virtual models of robot and

1. Setup complexity
environment
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Disadvantage Explanation

2. Skilled programmers Needs trained people who can use CAD, simulation,
needed and robotic languages

3. Equipment cost Simulation software and licenses are expensive

4. Real-world mismatch If virtual and real setups don’t match exactly, robot
risk may crash or misbehave

5. Initial time investment First-time setup and calibration can take time

6. Not ideal for simple For basic pick-and-place jobs, manual programming is
tasks faster

3. What are the Basic Elements of a Robot Language?

Robot programming languages need certain core elements to control motion, read sensors,
perform calculations, and communicate. Here's a breakdown:

1. Constants and Variables

• Constants: Fixed values (e.g., speed = 100 mm/s).

• Variables: Changeable data (e.g., x = current position).

• Used for storing positions, speeds, delays, etc.

2. Motion Commands

• Tell the robot how to move.

• Examples: MOVE, JUMP, LINEAR, CIRCULAR.

• Used to define paths, speed, acceleration.

3. End-Effector and Sensor Commands

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• Control the gripper, tools, or welding gun.

• Turn sensors ON/OFF, read their values.

• Example: GRIPPER ON, SENSOR READ.

4. Computations and Operations

• Perform math: add, subtract, multiply.

• Example: distance = x2 – x1.

• Needed for logic, decisions, and adaptive tasks.

5. Program Control & Subroutines

• Control the flow: loops, conditions, branches.

• Examples: IF, WHILE, GOTO, CALL.

• Subroutines are small programs inside the main one — reusable.

6. Monitor Mode Commands

• Used to check robot’s status during idle or testing.

• Example: SHOW POSITION, CHECK STATUS.

7. Data Processing and Communication

• For sending and receiving data from other systems.

• Example: Robot talks to PLC or PC.

• Commands: SEND, RECEIVE, LOG.

4. Discuss the Requirements of a Robot Programming System.

To program a robot properly, the system must include certain hardware and software
capabilities. These help the robot understand, process, and execute instructions smoothly.
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Key Requirements:

Requirement Explanation

Should be easy to use – text-based, graphical, or teach

1. User Interface (UI)
pendant-friendly.

2. Programming Language System should support robot languages (like VAL, AML, RAPID,
Support KRL).

3. Motion Control Tools Should provide tools to define robot paths, speed, acceleration.

Must allow programming based on input from sensors (e.g.,

4. Sensor Integration
vision, proximity).

Must simulate robot motion to test code without damaging

5. Simulation Environment
hardware.

Should connect with PLCs, computers, and other robots via

6. Communication Support
protocols.

Ability to perform calculations, logic checks, or use

7. Data Processing Features
input/output conditions.

8. Error Handling System must show errors clearly and help debug them fast.

Should allow saving, editing, and reusing old programs for

9. Program Storage & Reuse
similar tasks.

Robot must handle multiple instructions or tasks at the same

10. Multi-tasking Ability
time.

5. What Are the Different Robot Programming Languages?

Robot programming languages help in defining how a robot moves, reacts, and interacts with its
environment. These languages vary in style and purpose.

Types of Robot Programming Languages:

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Type Description & Examples

Written in text form. Easy to edit and save. Examples: RAPID (ABB),
1. Text-Based Languages
KRL (KUKA).

Programming is done by dragging blocks or paths. Example:

2. Graphical Languages
RoboDK, Blockly.

3. Task-Level Languages Focuses on what to do, not how. Example: AML (IBM), RAIL.

4. Motion-Level Controls exact movement – joint angles, speed. Example: VAL

Languages (Unimation).

5. Object-Oriented
Uses objects and classes. Example: Java-based robotic frameworks.
Languages

Easy-to-use mini languages for automation. Example: Python in ROS

6. Scripting Languages
(Robot OS).

6. Discuss the Following Categories of Programming Instructions in VAL (Value

Added Language).
i) Robot Configuration Control

These instructions define the robot’s posture and joint positions to avoid collisions or reach a
target safely.

Feature Explanation

CONFIG Sets robot configuration (e.g., elbow up/down, wrist flip/no flip).

TOOL Defines the tool’s position and orientation relative to robot.

BASE Sets the reference coordinate system for all movements.

ii) Motion Control

These instructions handle how the robot moves from one point to another — its path, speed,
and accuracy.
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Command Explanation

MOVE Moves robot to a position (point-to-point).

MOVEL Linear motion between two positions.

MOVEC Circular or arc motion.

SPEED Sets the speed of the motion.

ACCEL Sets acceleration rate during movement.

WAIT Pauses the robot for a certain time or until a condition is met.

Summary Example:

TOOL 1 // Use tool 1

BASE 0 // Use base 0

SPEED 50 // Set speed to 50%

MOVE P1 // Move to point P1

WAIT 2 // Wait for 2 seconds

MOVE P2 // Move to point P2

This simple VAL code moves the robot between two points at a set speed with a wait time in
between.