Robot software is a collection of commands or coded instructions that tell the mechanical devices and electronic systems, known collectively as robots, what tasks to perform. The robot software is used to perform autonomous tasks. Many software systems and frameworks have been proposed to facilitate robot programming.
Some robotic software aims at developing intelligent mechanical devices. Common tasks include feedback loops, controls, pathfinding pioneering, data filtering, searching and sharing of data.
Video Robot software
Introduction
Although it is a special type of software, it is still quite diverse. Every manufacturer has their own robot software. While most software is about data manipulation and seeing the results on screen, the robot software is for the manipulation of objects or tools in the real world.
Maps Robot software
Industrial robot software
The software for industrial robots consists of data objects and instruction lists, known as program streams (instruction lists). As an example,
Go to Jig1
is the instruction to the robot to go to the position data named Jig1. Of course the program can also contain implicit data for example
Say on the 1st axis, move 30 degrees.
Data and programs are usually located in a separate part of the robot controller memory. One can change the data without changing the program and vice versa. For example, one can write different programs using the same Jig1 or that can adjust the Jig1 position without changing the program that uses it.
Examples of programming languages ​​for industrial robots
Due to the very proprietary nature of the robot software, most robot hardware manufacturers also provide their own software. While this is not uncommon in other automated control systems, the lack of standardization of programming methods for robots does pose a particular challenge. For example, there are more than 30 different manufacturers of industrial robots, so there are also 30 robot programming languages ​​required. Fortunately, there are quite a lot of similarities between different robots that make it possible to gain a broad understanding of robot programming without having to learn the language that each manufacturer has.
Using Post processor and Off-line programming (robotics) software, it is possible to handle special robot programming languages ​​from universal programming languages, such as Python (programming language).
Some examples of published robot programming languages ​​are shown below.
Tasks in English are simple:
Move to P1 (public secure position) Move to P2 (approach to P3) Move to P3 (position to select object) Close the gripper Move to P4 (approach to P5) Move to P5 (position to place object) Open gripper Move to P1 and finish
VAL is one of the first 'language' robots and is used in Unimate robots. The VAL variant has been used by other manufacturers including Adept Technology. StÃÆ'¤ubli currently uses VAL3.
Examples of programs:
PICKPLACE PROGRAM Â Â 1. MOVE P1 Â Â 2. MOVE P2 Â Â 3. MOVE P3 Â Â 4. CLOSEI 0.00 Â 5. 5. MOVE P4 Â 6. 6. MOVE P5 Â Â 7. OPENI 0.00 Â Â 8. MOVE P1 .END
Contoh program StÃÆ'¤ubli VAL3:
dimulai   movej (p1, tGripper, mNomSpeed)   movej (appro (p3, trAppro), tGripper, mNomSpeed)   movel (p3, tGripper, mNomSpeed)   tutup (tGripper)   movej (appro (p5, trAppro), tGripper, mNomSpeed)   movel (p5, tGripper, mNomSpeed)   buka (tGripper)   movej (p1, tGripper, mNomSpeed) akhir
trAppro is a Cartesian transformation variable. If we use with the appro command, we do not need to teach P2 and P4 points, but we dynamically change the approach to the pick position and place for the generation of the path.
Epson RC (contoh untuk pickup vakum)
Fungi PickPlace        Lompat P1        Jump P2       Lompat P3       Saat vakum       Tunggu.1       Lompat P4       Lompat P5       Off vakum       Tunggu.1        Lompat P1 Menangkis
ROBOFORTH (language based on FORTH).
: PICKPLACE P1 P3 WITHDRAWAL GRIP P5 UNGRIPING INTEREST P1 ;
(With Roboforth you can define an approach position for places so you do not need P2 and P4.)
Obviously the robot does not have to continue the next step until the gripper is completely closed. Confirmed or permitted time is implied in the above CLOSEI and GRIP examples, while the On vacuum command takes time to ensure satisfactory suction.
Other robot programming languages ​​
Visual programming languages ​​
LEGO programming language Mindstorms EV3 is a simple language for its users to interact. This is a graphical user interface (GUI) written with LabVIEW. The approach is to start with the program rather than the data. The program is built by dragging the icon into the program area and adding or inserting it into sequence. For each icon you then specify the parameter (data). For example, for motor drive icons you determine which motors and how much they move. When this program is written it is downloaded to Lego NXT 'brick' (microcontroller) for testing.
Scripting languages ​​
Scripting languages ​​are high-level programming languages ​​used to control software applications, and are interpreted in real-time, or "translated quickly" instead of compiled first. A scripting language may be a general-purpose programming language or may be limited to certain functions used to add to the running of an application or a system program. Some scripting languages, such as RoboLogix, have data objects that are in the register, and the program stream represents a list of instructions, or set of instructions, used to program the robot.
Programming languages ​​are typically designed to build data structures and algorithms from scratch, while scripting languages ​​are intended to connect, or "attach", components, and instructions simultaneously. As a result, the scripting language instruction set is usually an efficient list of program commands that are used to simplify the programming process and provide rapid application development.
Parallel language
Another interesting approach is worth mentioning. All robotic applications require parallel and event-based programming. Parallelism is where the robot does two or more things at the same time. This requires the right hardware and software. Most programming languages ​​rely on complex threads or classes of abstraction to deal with the accompanying parallelism and complexity, such as concurrent access to shared resources. URBI provides a higher level of abstraction by integrating parallelism and events in the semantic core of language.
anytime (face.visible) {   headPan.val = camera.xfov * face.x   & amp;   headTilt.val = camera.yfov * face.y } The code above will move the head code and headTilt of the motor in parallel to make the robot head follow the human face visible on the video taken by the camera every time the face is seen by the robot.
The robot app software
Regardless of what language is used, the end result of the robot software is to create robotic apps that help or entertain people. Applications include command-and-control and tasking software. Command-and-control software includes GUI robot controls for tele-operated robots, point-n-click command software for autonomous robots, and software scheduling for mobile robots at the factory. Tasking software includes a simple drag-n-drop interface to manage delivery routes, security patrols and visitor tours; it also includes special programs written to deploy specific applications. The general purpose robot application software is used on a widely distributed robot platform.
Security considerations
Programming errors are a serious security concern, especially in large industrial robots. The strength and size of industrial robots means they are capable of causing severe injury if programmed incorrectly or used in an unsafe manner. Due to the mass and high speed of industrial robots, it is always unsafe for humans to remain in the robot work area during automatic operation. The system can start movement at an unexpected time and humans will not be able to react quickly enough in many situations, even if ready to do so. Thus, even if the software is free from programming errors, caution should be taken to make industrial robots safe for human workers or human interactions, such as loading or dismantling parts, cleaning partial jam, or doing maintenance. The ANSI/RIA R15.06-1999 American National Standards for Industrial Robot and Robot Systems - Safety Requirements (revision ANSI/RIA R15.06-1992) books from the Robotic Industries Association are the accepted standards on security robot. This includes guidelines for the design of industrial robots, and the implementation or integration and use of industrial robots on the factory floor. Many safety concepts such as safety control, maximum speed during teaching mode, and use of physical barriers are covered.
The robotics software project
Source of the article : Wikipedia
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