Robot programming is a crucial skill in industrial automation. It involves using specialized methods and tools to control robot movements and behaviors. From teach pendants to offline simulations, various approaches cater to different needs and skill levels.

Programming languages like RAPID, KRL, and VAL3 form the backbone of robot control. Advanced techniques such as conditional statements, loops, and subroutines enable complex operations. Optimization methods further enhance robot performance, ensuring efficiency and safety in industrial settings.

Programming Methods and Tools

Programming methods for industrial robots

• Teach pendant programming allows direct manipulation of robot on factory floor providing immediate visual feedback and real-time programming
• Offline programming uses computer-based simulations away from robot reducing production downtime and enabling program testing (RobotStudio, KUKA.Sim)
• Graphical interfaces offer drag-and-drop environments with visual representation of robot movements making programming accessible to non-programmers (ABB RobotStudio, Fanuc ROBOGUIDE)

Components of robot controllers

• Robot controller houses central processing unit managing robot operations, memory storage for program retention, input/output interfaces for sensor and tool connections, power management system regulating electrical supply
• Teach pendant features LCD display for programming interface, joystick or directional buttons for manual robot control, emergency stop button for immediate halt, program execution controls for running/pausing operations, manual and automatic mode switches for different operating states

Programming Languages and Techniques

Basic robot programming languages

• RAPID for ABB robots uses module structure organizing code, procedures and functions for task execution, motion commands like MoveJ and MoveL for joint and linear movements
• KRL for KUKA robots employs program structure with main() function, variable declarations for data storage, movement instructions such as PTP and LIN for point-to-point and linear motions
• VAL3 for Stäubli robots utilizes program organization with global and local scopes, various data types and variables, motion statements including movej and movel for joint and linear trajectories

Advanced robot programming techniques

• Conditional statements guide robot decision-making:
  1. IF-THEN-ELSE structures for branching logic
  2. CASE or SWITCH statements for multiple condition handling
• Loops enable repetitive task execution:
  • FOR loops iterate a specific number of times (palletizing operations)
  • WHILE loops continue until a condition is met (quality inspection processes)
• Subroutines create reusable code blocks enhancing modularity:
  • Parameter passing for flexible functionality
  • Return values provide data back to main program
• Optimization techniques improve robot performance:
  • Path planning algorithms calculate efficient trajectories (A, RRT)
  • Collision avoidance systems prevent accidents (proximity sensors, 3D vision)
  • Speed and acceleration control maximize productivity while ensuring safety (trapezoidal velocity profiles)