Faculty of Engineering & Technology, SRM University, Kattankulathur- 603203 School of Mechanical Department

COURSE PLAN-ME2306/ROBOT PROGRAMMING

Course code : IVIE2306 DATE:06.01.2014 Course Title : ROBOT PROGRAMMING Semester :2 Academic year/ : 2013-2014 Semester : Even (January -April 2014)

Section details:

Section Room Details of Faculty no.

Name Room Mail id no.

Robotics PG301 Mr.Manoj Kumar.V MEC101 manojkumar.v~ktr.srmuniv.ac.in

SYLLABUS

ME2306 ROBOT PROGRAMING L T PC 3 023

PURPOSE To enlighten the students about the use of robot programming for various

applications.

INSTRUCTIONAL OBJECTIVES At the end of this course the student should be able to understand the

1. Basics of Robot programming 2. VAL language applications 3. RAPID language applications 4. Practical study of virtual robot software 5. VAL-II and AML language

UNIT I-BASICS OF ROBOT PROGRAMMING (10 hours) Robot programming-Introduction-Types- Flex Pendant- Lead through

programming, Coordinate systems of Robot, Robot controller- major components, functions-Wrist Mechanism-Interpolation-Interlock commands­Operating mode of robot, Jogging-Types, Robot specifications- Motion commands, end effectors and sensors commands. UNIT II-VAL LANGUAGE (9 hours)

Robot Languages-Classifications, Structures- VAL language commands motion control, hand control, program control, pick and place applications, palletizing applications using VAL, Robot welding application using VAL program-WAIT, SIGNAL and DELAY command for communications using simple applications. UNIT III-RAPID LANGUAGE (9 hours)

RAPID language basic commands- Motion Instructions-Pick and place operation using Industrial robot- manual mode, automatic mode, subroutine command based programming. Movemaster command language-Introduction, syntax, simple problems. UNIT IV-PRACTICAL STUDY OF VIRTUAL ROBOT (9 hours)

Robot cycle time analysis-Multiple robot and machine Interference-Process chart-Simple problems-Virtual robotics, Robot studio online software­Introduction, Jogging, components, work planning, program modules, input

and output signals-Singularities-Collision detection-Repeatability measurement of robot-Robot economics. UNIT V-VAL-II AND AML (8 hours)

VAL-II programming-basic commands, applications- Simple problem using conditional statements-Simple pick and place applications-Production rate calculations using robot. AML Language-General description, elements and functions, Statements, constants and variables-Program control statements­Operating systems, Motion, Sensor commands-Data processing.

PRACTICAL (30 hours)

REFERENCES

1. Deb. S. R. "Robotics technology and flexible automation", Tata McGraw Hill publishing company limited, 1994 2. Mikell. P. Groover, "Industrial Robotics Technology", Programming and Applications, McGraw Hill Co, 1995. 3. Klafter. R.D, Chmielewski.T.A. and Noggin's., "Robot Engineering: An Integrated Approach", Pr'entice Hall of India Pvt. Ltd.,1994. 4. Fu. K. S., Gonzalez. R. C. & Lee C.S.G., "Robotics control, sensing, vision and intelligence", McGraw Hill Book co, 1987 5. Craig. J. 1. "Introduction to Robotics mechanics and control", Addison­Wesley, 1999. 6. Robotics Lab manual, 2007. 7. www.wpi.edu

Session Plan

HoursS.No Titles/Details of the Chapter

21 Robot Programming -Introduction and its Types 2 Coordinate system of robot -world, work object and tool 1 3 Robot controller and its components 1

Various functions of controller 24 Operating modes-jogging and programming modes 25 Robot specification and its commands 16 Commands-motion ,sensor and gripper commands 17 Robot languages and its classification 18 Introduction to VAL language 19 Control mode programs-motion control 110 Hand control and program control modes 211

12 1Communication codes-WAIT"SIGNAL,DELAY Pick and place ,palletizing application using VAL language 213 Robot welding applications using communication VAL programs 114 RAPID language -basics 115 Motion instruction 116 Pick and Place operation using RAPID language 217 Different modes-manual, automatic and subroutine 118 Simple programs with and without sub programs 219 Move master command language-basics and syntax 120

21 Programs using Move master command language 1 22 Virtual robot- introduction 1

Robot cycle time analysis-single and multi robots 123 24 Machine interference 1 25 Process charts with simple problems 1

Robotic studio software-introduction, components, work planning 226 27 Modes -jogging, programming-input and output signal I 28 Singularity, collision, Repeatability 1

Measurements of robot and robot economics 129 VAL II language -basic commands 130 Conditional statements -simple programs31 1 Application -pick and place robots 132 Production rate calculation 133 AML language-general description 134 Elements ,functions and different modes 135 Program control statements-motion and sensor commands 236

30Practical 75Total

REFERENCE BOOKS

1. Deb. S. R. "Robotics technology and flexible automation", Tata McGraw Hill publishing company limited, 1994 2. Mikell. P. Groover, "Industrial Robotics Technology", Programming and Applications, McGraw Hill Co, 1995. 3. Klafter. R.D, Chmielewski.T.A. and Noggin's., "Robot Engineering: An Integrated Approach", Prentice Hall of India Pvt. Ltd.,1994. 4. Fu. K. S., Gonzalez. R. C. & Lee C.S.G., "Robotics control, sensing, vision and intelligence", McGraw Hill Book co, 1987 5. Craig. J. J. "Introduction to Robotics mechanics and control", Addison-Wesley, 1999. 6. Robotics Lab manual, 2007.

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~1"\OI'l'1 Signature of the Faculty