Early robots typically used simple fixed programs to perform simple and repetitive action tasks. These programs are mostly developed based on specific tasks and have strong specificity. With the continuous expansion of robot application fields, they can handle diverse tasks and are no longer limited to a single task, demonstrating better versatility. Therefore, robot programming has become increasingly important, and robot programming technology has also experienced rapid development, with various programming methods and languages emerging.
At present, there are three main programming methods for industrial robots:
Teaching Programming
Teaching programming is the most common way of programming simple robots, especially suitable for simple repetitive work tasks. During the teaching process, the staff needs to operate the robot on-site to move the end effector to the target position. The robot's joint angle values will be stored in the controller to "remember" the target position. In the reproduction stage, the robot can read stored position information from the controller and reproduce the motion trajectory during teaching.
The teaching methods include hands-on teaching and teaching with teaching tools.
Hand to hand teaching involves operating the joystick on the robot arm to complete the action, while teaching with a teaching pendant drives the robot through the knob on the pendant. The teaching pendant has become a common way of programming industrial robots due to its easy operation. The knobs on the teaching pendant correspond to the various joints of the robot, allowing the operator to easily complete the teaching in different coordinate systems.
The advantages of demonstration programming are simple operation, easy to learn, and fast demonstration speed. However, it also has some drawbacks:
It must be completed on-site, occupying the production time of the robot.
Accurate or complex trajectories are difficult to achieve through demonstration.
The inability to integrate sensor information with teaching limits the degree of automation.
Difficult to synchronize with other operations of the robot.
Robot language programming
Robot language programming uses specialized robot languages to describe the motion trajectory of robots. This approach is similar to high-level programming languages, which can achieve interconnection between robots and between robots and external devices, and complete diverse tasks. There are many types of robot languages, and different robot systems may use the same language or different languages.
Offline programming
Offline programming is implemented through specific software, allowing for programming without directly connecting to the robot. Offline programming software usually also has functions such as trajectory simulation, collision detection, modeling and importing of end effectors, and online debugging. This method can complete programming and simulation without affecting production, significantly improving efficiency.
Provide examples to aid understanding:
Assuming we have an automobile manufacturing plant that requires the use of robots to complete the assembly of automotive components.
Teach programming
Scenario: The robot on the assembly line needs to place the engine into the car chassis.
Operation:
1. The engineer stands next to the assembly line, holding a teaching pendant.
2. Through a teaching pendant, engineers manually guide the robot's arm to move to the correct position of the engine.
3. The robot records this position and the corresponding joint angle.
4. The engineer repeatedly guides the robot to the assembly position, and the robot records again.
Once the demonstration is completed, the robot can automatically repeat this action and place the engine into the chassis.
Advantages: Easy to operate and quick to get started.
Disadvantage: Engineers need to be present in person, and programming for complex actions may not be precise enough.
Robot language programming
Scenario: The robot needs to adjust its assembly actions according to different types of car chassis.
Operation:
1. Programmers write a program that uses a specific robot language to define the steps of engine assembly.
2. The program contains logical judgments to select different assembly strategies based on different chassis types.
3. The program is uploaded to the robot through the robot controller.
4. The robot executes assembly tasks according to program instructions.
Advantages: Can write complex logic and adapt to changing tasks.
Disadvantages: Professional programming knowledge is required, and the development cycle may be longer.
Off-line Programming
Scenario: A new car model is about to be launched, and the robot needs to be reprogrammed to adapt to the new assembly process.
Operation:
1. Use offline programming software to simulate the assembly process on a computer.
2. The software allows engineers to design new assembly paths and conduct simulation testing to ensure there are no collisions or errors.
After completing the design, the engineer exports the program and uploads it to the robot controller through interfaces such as USB.
4. The robot has already completed programming and testing of the software before actual assembly.
Advantages: Programming and testing can be carried out without affecting the production line, improving efficiency.
Disadvantage: Requires additional software and hardware support.
conclusion
Through this case, we can see that each programming method has its applicable scenarios and advantages, and disadvantages. Teaching programming is suitable for simple and repetitive tasks; Robot language programming is suitable for tasks that require complex logic; Offline programming is suitable for complex programming and testing without affecting production. In practical applications, it is very important to choose the appropriate programming method based on specific needs. Through these three programming methods, industrial robots can better adapt to diverse job requirements, improve production efficiency, and flexibility. With the continuous advancement of technology, future robot programming will become more intelligent and automated.