Important Questions and Answers: Robot Kinematics And Robot Programming

1.  Methods of robot programming?

Lead through methods

Textual robot languages

Mechanical Programming

2. Ways of accomplishing lead through programming?

 Powered Lead through

 Manual Lead through

3. Teach pendant.

 The teach pendant is usually a small handheld control box with combinations of toggle  switches, dials   and   buttons   to   regulate   the   robot‘s   ph

4. Methods of teaching.

 Joint movements

 X-Y-Z coordinates motions

 Tool coordinate motions

5. Types of Robot kinematics.

 Forward kinematics

It is a scheme to determine joint angles of a robot by knowing its position in the world coordinate system.

Reverse kinematics

It is a scheme to determine the position of the robot in the world coordinate system by knowing the joint angles and the link parameters of the robot.

6. Define Trajectory planning.

It is defined as planning of the desired movements of the manipulator.

7. Degrees of freedom.

The number of independent ways by which a dynamic system can move without violating any constraint imposed on it, is called degree of freedom. In other words, the degree of freedom can be defined as the minimum number of independent coordinates which can specify the position of the system completely.

8. Joint mode of teaching robots.

The teach pendant has a set of toggle switches (or similar controlled devices) operate each joint either of it to directions until the endeffector has been positioned to the desired point.

9.  Reasons for defining points in a program.

To define a working position for the endeffectors To avoid obstacles

10. Define Position representation.

The position of the end of the arm may be represented by the two joint angles q1 and q2.this is known as position representation.

Pj = (q1,q2)

11. What is Servo controlled robots?

Servo controlled robots, which are programmed by lead through an textual language methods tend to actuate all axes simultaneously.

12. Define Circular Interpolation.

Circular Interpolation requires the progra workspace which is done by specifying three points that lie along the circle.

13. Irregular smooth motions?

The segments in manual lead though programming are sometimes approximately straight sometimes curved and sometimes back and forth motions. These motions are called irregular smooth motions.

14. Manual lead through programming?

In manual lead through programming the programmer moves the manipulated wrist to teach spray-painting or arc welding. The movements consist of combination of smooth motion segments.