Syllabus - Robot Programming (AB 605)

Automation and Robotics

Robot Programming (AB 605)

VI-Semester

Study of the three levels of robot programming .

Study of requirements of a robot programming language.

Write a robot program (in a language of your choice) to pick a block up from location A and place it in location B

Design the syntax of a new robot programming language. Include ways to give duration or speeds to motion trajectories, make I/O statements to peripherals, give commands to control the gripper, and produce force-sensing (i.e., guarded move) commands. You can skip force control and parallelism

Using any robot language, write a general routine for unloading an arbitrarily sized pallet. The routine should keep track of indexing through the pallet and signal a human operator when the pallet is empty. Assume the parts are unloaded onto a conveyor belt.

Using any capable robot programming language, write a program to assemble the hand-held portion of a standard telephone. The six components (handle, microphone, speaker, two caps, and cord) arrive in a kit, that is, a special pallet holding one of each kind of part. Assume there is a fixture into which the handle can be placed that holds it. Make any other reasonable assumptions needed.

Write a robot program that uses two manipulators. One, called GARM, has a special end- effector designed to hold a wine bottle. The other arm, BARM, wifi hold a wineglass and is equipped with a force-sensing wrist that can be used to signal GARM to stop pouring when it senses the glass is full.

Practicals

  • Suggested List of Experiments

Reference Books

  • B. Shimano, "VAL: A Versatile Robot Programming and Control System," Proceedings of COMIPSAC 1979, Chicago, November 1979.

  • B. Shimano, C. Geschke, and C. Spalding, "VAL II: A Robot Programming Language and Control System," SME Robots VIII Conference, Detroit, June 1984.

  • 5. Mujtaba and R. Goldman, "AL Users' Manual," 3rd edition, Stanford Department of Computer Science, Report No. STAN-CS-81-889, December 1981.

  • A. Gilbert et al., AR-BASIC: An Advanced and User Friendly Programming Systemfor Robots, American Robot Corporation, June 1984.

  • J. Craig, "JARS—JIPL Autonomous Robot System: Documentation and Users Guide," JPL Interoffice memo, September 1980.

  • ABB Robotics, "The RAPID Language," in the SC4Plus Controller Manual, ABBRobotics, 2002.

  • R. Taylor, P. Summers, and J. Meyer, "AML: A Manufacturing Language," International Journal of Robotics Research, Vol. 1, No. 3, Fall 1982.

  • FANUC Robotics, Inc., "KAREL Language Reference," FANUC Robotics NorthAmerica, mc, 2002.

  • R. Taylor, "A Synthesis of Manipulator Control Programs from Task-Level Specffications," Stanford University Al Memo 282, July 1976.