Concepts of Robot Programming 341

3D

Three-dimensional. Having height, width, and depth. 3D simulations can approximate all movements made in the real world.

adaptive control

The ability of a mechanical device to make automatic adjustments to external stimuli. Adaptive control allows robots to handle changes in the environment without operator intervention.

auto mode

A robot setting where the operator selects a program that the robot will run independently. Auto mode, or run mode, is the setting for robots that are actively in manufacturing production.

automated

Performed without human intervention or involvement. Automated manufacturing systems make use of computers to control various machine tools and manufacturing components.

auxiliary axes

An additional axis of movement created by adding a joint to a robot. Auxiliary axes, or redundant axes, can be added to provide greater mobility.

axes

An imaginary line or circle that is used to define the position of an object in space. The linear axes are the X, Y, and Z axes of the Cartesian coordinate system.

base frame

A coordinate system in which the origin is set at the base of a robot. The base frame is useful for precisely adjusting the position of a floor-mounted unit since the base position is physically fixed.

C programming language

A standardized, static, general-purpose programming language. C programming language can be used to program robots.

CAD

Computer-aided design. Computer software used to create 3D part or manufacturing component models. CAD is most often used to create part models for production, but it can also be used to create 3D components for robotic simulations.

Cartesian coordinate system

A positioning system that uses three linear axes orthogonal to each other to locate positions in three-dimensional space. The three linear axes in the Cartesian coordinate system are the X axis, Y axis, and Z axis.

computer-aided design

CAD. Computer software used to create 3D part or manufacturing component models. Computer-aided design is most often used to create part models for production, but it can also be used to create 3D components for robotic simulations.

control program

A set of symbols and rules used to represent information and directions to a control device so that it can apply instructions. Control programs for robots or control systems are created in all forms of robot programming, though usually through the use of a tool such as a teach pendant or simulator.

controller

The main device that processes information and communicates instructions to a robot. A controller operates the entire robotic system.

conveyor belts

A moving strip of material that carries parts or other components from one area of a manufacturing facility to another. Conveyor belts are commonly used to transport parts from production to packaging.

coordinate frame

A three-dimensional coordinate system. Coordinate frames, also known as reference frames, are used to define the movement of a robot by locating point positions in three-dimensional space.

degrees of freedom

DoF. The ability to move in a specific direction in three-dimensional space along or around an axis. Industrial robots typically have a maximum of six degrees of freedom, three for position and three for orientation.

disturbances

Any unwanted change or variation in a manufacturing environment. Disturbances include debris, shifting components, and operator error.

downtime

The period during which a machine component is inactive. Downtime reduces the efficiency of a manufacturing operation and should always be limited as much as possible.

drilling

A holemaking process in which a rotating cutter makes a round hole into the workpiece to a certain depth. Drilling is often performed by a robot or other automated device.

emergency stop

E-stop. A button or switch that brings a robot to a safe, rapid stop. Emergency stop buttons are usually large red buttons with a yellow circle around them.

end effector

A device attached to the end of a robot arm in order to interact with a part, component, or material. An end effector, also known as an end of arm tool, may be a gripper that allows the robot to pick up objects and place them down.

faults

A problematic condition that interferes with a component or system's ability to function as intended. Faults can be detected on the teach pendant.

gripper

A dexterous material-handling component that resembles and performs similarly to a human hand. Grippers allow robots to perform complex tasks, such as handling small parts or assembling components precisely.

hand guiding

A robot programming operation where engineers or operators physically take a robot through the steps of a manufacturing operation. Hand guiding, also known as lead-through programming, is a type of online programming.

input device

A piece of equipment that allows a human operator to communicate with and program a robot. Input devices include personal computers and teach pendants.

inverse kinematics

The calculation and translation of Cartesian coordinates into joint angles. Inverse kinematics converts coordinates that describe an end effector's position and orientation coordinates into joint angles.

jog

To move a machine component using machine controls. To jog a robot, an operator must use a teach pendant.

jogging

Moving a machine in small, precise distances. Jogging allows an operator to position a robot carefully and exactly.

joint

A connecting component on a robot that can move through an angle about a center point. Joints on a robot mimic the movement of human joints, such as a wrist or elbow, with the ability to rotate.

kinematics

The science of motion without regard to the forces that cause motion. Kinematics describes the relationship between the positions, velocities, and accelerations of a robot's joints and links.

lead-through programming

A robot programming operation where engineers or operators physically take a robot through the steps of a manufacturing operation. Lead-through programming, also known as hand guiding, is a type of online programming.

linear axes

An axis that describes linear movement. Linear axes describe side-to-side, front-to-back, or up-and-down movement.

liveman switch

A control device that must be depressed for a robot to move. Liveman switches are a safety feature on robotic teach pendants.

lockout/tagout

A series of devices used to warn engineers or operators of safety hazards and, in the case of unauthorized personnel, physically prevent them from accidentally energizing a system while in dangerous areas of a machine or within a robot's space. Lockout/tagout devices include padlocks, switch guards, and brightly colored warning labels.

machine interface

The input device on a machine that engineers and operators use to interact with the machine's control system. The machine interface may be complex, such as a computer touchscreen, or simple, such as a control panel with just a few buttons.

manual mode

A robot setting where an operator is able to control the robot's movements and save those movements as an operating program. Manual mode, or teach mode, is used in online programming.

material handling

The process of loading, unloading, placing, or manipulating objects or materials. Types of material handling include machine tending, part transfer, packaging, and palletizing.

mobile robots

An automated machine that can move around space and perform a task without operator intervention. Mobile robots, sometimes called automated guided vehicles (AGVs), include tow vehicles, unit load carriers, and cart vehicles, among others.

nominal

A stated measurement that may not correlate exactly with a physical part. Nominal coordinate frames can different from the robot's actual coordinate frame.

offline programming

A method of robot instruction where a programmer or computer engineer creates the instructions for a robotic operation independently of the robot. Offline programming involves either writing all the instructions for an operation or using a computer simulation.

online programming

A method of creating instructions for a robot where the engineer interacts directly with an active robot during the process. Online programming includes teach-pendant programming and lead-through programming.

orientation

Rotational position in three-dimensional space. Orientation is determined by rotation around the X, Y, and Z axes.

origin

A fixed, central point in the Cartesian coordinate system where the X, Y, and Z axes intersect. The origin has a numerical value of zero.

orthogonal

Two or more lines or axes that meet at right angles. Orthogonal lines are positioned at 90°, right angles to each other.

parameters

A set of measurable factors or characteristics that define the scope of an operation. Parameters of a robot can include variables such as velocity, motion, and payload.

path

The route taken by a robot to travel from one location to another. Common robot paths include point-to-point and continuous paths.

positional data

Information about the position of a device or component. Positional data, along with procedural data, is used to program a robot's movement.

procedural data

Information about the steps necessary to perform a process. Procedural data, along with positional data, is used to program a robot's movement.

programming

The process of entering digital instructions into a computer or computerized system. Programming involves the use of a machine interface and a programming language that can tell the machine what actions to perform.

programming language

A specific set of communication rules used to dictate instructions to a robot. Programming languages for robots are typically used by engineers or programmers.

proprietary languages

A programming language that has been developed by a manufacturer for use exclusively with its own brand of robots. Many proprietary languages exist for robot programming.

Python

A type of computer programming language used for a range of general applications. Python is a common language used for robot applications.

robots

A machine, often with articulated joints and gripping capabilities, that can be programmed to precisely perform a variety of complicated, repetitive tasks. Robots are used to assemble parts, weld joints, and position components, among many other manufacturing tasks.

rotational axes

An axis that describes rotation around a linear axis. The rotational axes for robot movement are designated as the RX, RY, and RZ axes.

run mode

A robot setting where the operator is able to select a program that the robot will run independently. Run mode, or auto mode, is the setting for robots that are actively in manufacturing production.

RX

The rotational axis that describes motion about the X axis. Movement on the RX axis is called roll.

RY

The rotational axis that describes motion about the Y axis. Movement on the RY axis is called pitch.

RZ

The rotational axis that describes motion about the Z axis. Movement on the RZ axis is called yaw.

scanned

Turned into digital information. Real-world objects can be scanned so that 3D computer models of the objects can be used in computer software, such as robot simulations.

sensors

A device that detects the presence or absence of an object, or specific properties of that object, and provides feedback to the robot control system. Sensors allow robots to interact with their environment.

simulation

A computer re-creation of a physical space and activity. Simulations allow engineers to walk a three-dimensional model of a robot through a computerized version of an operation and record the robot's movements to upload to the physical robot.

simulator

The computer program that generates the three-dimensional models of the robot, parts, and manufacturing environment. Simulators also record the desired robot movements, creating control programs that can be uploaded to the robot's machine interface.

software

The coded instructions or programs that control computer hardware functions and operations. Software allows operators to perform a specific function on a computer, such as creating 3D part models or running robot simulations.

teach mode

A robot setting where an engineer or operator is able to control the robot's movements and save those movements as an operating program. Teach mode, or manual mode, is used in online programming.

teach pendant

A hand-held device that can be used to program a robot or control its movements. Teach pendants are used in online programming.

teach-pendant programming

A robot programming operation where engineers or operators take a robot through a process using a remote control or other machine interface. Teach-pendant programming is a type of online programming.

three-dimensional

3D. Having height, width, and depth. Three-dimensional simulations can approximate all movements made in the real world.

tool center point

TCP. A coordinate system that defines the tip of the end effector and adjusts for its offset. The tool center point must be configured for each end effector used.

tool frame

A coordinate system in which the origin is set at the robot's wrist. The tool frame moves as the tool attached to the robot moves.

troubleshooting

An organized protocol for finding the cause of and solution to a manufacturing problem. Troubleshooting often involves reworking program parameters and different robot positions.

upload

To transfer information from one digital or computerized device to another. Operators upload programming instructions they have written or generated from a simulator to a robot to complete offline programming.

user frame

A coordinate system in which the origin is set by the user. In the user frame, the origin is usually set to the worktable or a workholding device.

velocity

The rate of change in an object's position with respect to a frame of reference. The velocity of a robot's actuators controls its motion.

waypoints

An intermediate point in a path between a robot's source and target positions. Waypoints, also known as via points, determine the shape and route of a robot's path.

welding torch

The device that holds the electrode in welding and delivers shielding gas to the weld area. Welding torches generate the heat that melts the materials that will be joined.

work envelope

The defined area through which a robot can move. The work envelope, or work cell, is generally enclosed by a cage or guard fence and defines the area that operators should remain outside in order to be safe during active production.

workpiece

A part that is subjected to one or more manufacturing procedures, such as welding, drilling, or painting. Workpieces are shaped into a finished part that can be used by customers.

world frame

A coordinate system in which the origin is set to a fixed point in the robot's work area. The world frame facilitates programming of two or more robots that must work together.

X axis

The linear axis that describes side-to-side movement. The X axis is one of the two horizontal axes in the Cartesian coordinate system.

Y axis

The linear axis that describes front-to-back movement. The Y axis is one of the two horizontal axes in the Cartesian coordinate system.

Z axis

The linear axis that describes up-and-down movement. The Z axis is the single vertical axis in the Cartesian coordinate system.