Introduction to Robot Programming - Notes
1. What is Robot Programming?
Robot programming refers to the process of developing a control scheme for how a robot interacts with its environment,
performs tasks, and achieves desired movements or operations.
2. Functions of Robot Software
- Motion Control
- Path Planning
- Sensor Integration
- Task Execution
- Safety Functions
3. Types of Coordinate Systems in Robots
1. World Coordinate System
2. Joint Coordinate System
3. Tool Coordinate System
4. Object Coordinate System
4. Position Control in Robotics
Ensures the robot's end-effector reaches the desired position using feedback systems like encoders and sensors. It can
be open-loop or closed-loop.
5. Other Control Functions
- Velocity Control
- Force/Torque Control
- Collision Detection
- Interpolation Control
6. Subroutines in Robot Programming
Introduction to Robot Programming - Notes
A subroutine is a block of code that performs a specific task. It reduces program length and improves readability.
7. Program Planning in Robotics
Steps include:
1. Define Task
2. Select Tools and Sensors
3. Design Movement Paths
4. Break into operations
5. Code and Test
8. Flow Chart for Robot Programming
Example: Pick and Place
Start -> Initialize -> Move to Pick -> Activate Gripper -> Move to Place -> Release Gripper -> Return -> End
9. Example of Simple Robot Program (Pseudocode)
START
Initialize Robot
Move to (X1, Y1, Z1)
Close Gripper
Move to (X2, Y2, Z2)
Open Gripper
Return to Home
STOP
