1. Methods of robot programming?
Lead through methods
Textual robot languages
Ways of accomplishing lead through programming?
pendant is usually a small handheld control box with combinations of
toggle switches, dials and
buttons to regulate
the robot‘s ph
Methods of teaching.
Types of Robot kinematics.
It is a scheme to determine joint angles of a robot
by knowing its position in the world coordinate system.
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.
Define Trajectory planning.
It is defined as planning of the desired movements
of the manipulator.
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
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
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
Pj = (q1,q2)
What is Servo controlled robots?
Servo controlled robots, which are programmed by
lead through an textual language methods tend to actuate all axes
Define Circular Interpolation.
Circular Interpolation requires the progra workspace
which is done by specifying three points that lie along the circle.
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.
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.