Robotics Fundamentals: Types, Specifications, and Programming

Industrial Robots: Definition and Applications

An industrial robot is an automatic manipulation machine, programmable with three or more axes, capable of positioning or orienting materials to execute diverse tasks. Its primary functions include:

• Manipulation: The main robot task is to move a part from one place to another, often for:
  • Assembling
  • Packaging
  • Machine tending
• Processing: The robot performs operations on a part, transforming it through processes such as:
  • Welding
  • Spray application
  • Cutting

Service Robots: Examples and Functions

Service robots are designed to assist humans in various non-industrial settings. Examples include:

• Telesurgery
• Assistance for dependent people
• Companionship and entertainment
• Medication dispensing

Technical Specifications: Catalogs and Details

Robot catalogs provide essential information, including details about:

• Manipulator: Number of axes, working area, resolution, load capacity, speeds, and mounting options.
• Control Unit: Specifications related to the robot's control system.
• Other Specifications: Optional software, weight, and cable specifications.

Robot Layouts and Manipulator Configurations

Robots can be integrated into various production environments with different layouts:

• Robot positioned in the center of an automatic cell
• Robot integrated into a production line
• Robot mounted on a linear axis
• Hanging robot (inverted mounting)

KCP Teach Pendant: Front View Components

The KCP (KUKA Control Panel) teach pendant is the primary interface for robot operation. Key components on the front view include:

• Left-hand status key
• Menu keys
• Mode selector
• Drives On button
• Drives Off button
• Emergency Stop button
• SpaceMouse
• Right-hand status key
• Enter key
• Arrow keys
• Keypad
• Softkeys
• Numeric keypad
• Start Backward key
• Start key
• Stop key
• Window Select button
• Esc key

Robot Coordinate Systems Explained

Understanding robot coordinate systems is crucial for programming and operation:

• $ROBROOT: The robot's base coordinate system.
• $WORLD: The global coordinate system, typically fixed on the floor.
• $BASE: A user-defined coordinate system, often set on the workpiece or fixture.
• $TOOL: The coordinate system defined at the robot's tool center point (TCP).

Jogging the Robot: Manual Movement Methods

Robots can be manually moved or "jogged" using two primary methods:

1. Cartesian Jogging: Movement along the X, Y, or Z axes (positive or negative directions).
2. Axis-Specific Jogging: Movement of individual robot axes (e.g., A1, A2, ..., A6).

Basic Principles of Robot Motion Programming

Overview of Robot Motion Types

Robot programming involves different motion types, each suited for specific tasks:

• PTP (Point-to-Point): The robot guides the TCP along the fastest path to the endpoint, without strict control over the path in between.
• LIN (Linear): The robot guides the TCP along a straight path to the endpoint, maintaining a linear trajectory.
• CIRC (Circular): The robot guides the TCP at a defined velocity along a circular path to the endpoint, requiring intermediate points for arc definition.

Programming a PTP Motion: Step-by-Step

To program a Point-to-Point (PTP) motion, follow these steps:

1. Move the TCP to the position that is to be taught as the endpoint.
2. Position the cursor in the line after which the motion instruction is to be inserted.
3. Select the menu sequence: COMMANDS > MOTION > PTP.
4. Set the parameters in the line form.
5. Save the instruction by pressing the CMD OK softkey.