Robotics Lab Manual 3g2022

Vaishnavi Institute of Technology & Science, Bhopal DEPARTMENT OF MECHANICAL ENGINEERING

LABORATORY MANUAL

SUBJECT: ROBOTICS [SUBJECT CODE: MMMD-207] LAB-II

CLASS: M.TECH (MACHINE DESIGN) YEAR: 2013-2015

APPROVED BY:

H.O.D. [Mech] Prof. ANIL VISHWKARMA

PREPARED BY: Prof. ANIL K. RAO

PRINCIPAL Dr. A.C.VARSHNEY

Vaishnavi Institute of Technology & Science, Bhopal DEPARTMENT OF MECHANICAL ENGINEERING

List of Experiments FACULTY: Prof. ANIL K. RAO YEAR: 2013-15

SUBJECT: ROBOTICS CLASS: M.TECH (MACHINE DESIGN)

1. Demonstration of Cartesian/ cylindrical/ spherical robot. 2. Demonstration of Articulated/ SCARA robot. 3. Virtual modeling for kinematic and dynamic verification any one robotic .

structure using suitable software.

4. Design, modeling and analysis of two different types of grippers. 5. Study of sensor integration. 6. Two program for linear and non-linear path. 7. Study of robotic system design. 8. Setting robot for any one industrial application after industrial visit.

ROBOTICS – LABORATORY MANUAL

EXPERIMENT NO. 1 TITLE: DEMONSTRATION OF CARTESIAN/CYLINDRICAL/SPHERICAL ROBOT Objective: To study basic robot co-ordinate configurations. Prelab: 1. Have you seen cartesian/cylindrical/spherical configuration robot? 2. Give any practical example of each of them. Introduction: Industrial Robots Definition

A robot is a programmable arm simulator. “A robot is a re-programmable, multifunction manipulator designed to move material, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks”

Cartesian Co-Ordinate Robot: The Cartesian co-ordinate robot is one that consists of a column and an arm. It is sometimes called an x-y-z robot, indicating the axes of motion. The x-axis is lateral motion, the y-axis is longitudinal motion, and the z-axis is vertical motion. Thus, the arm can move up and down on the z-axis; the arm can slide along its base on the xaxis; and then it can telescope to move to and from the work area on the y-axis. The Cartesian co-ordinate robot was developed mainly for arc welding, but it is also suited for many other assembly operations. Robots with Cartesian configurations consists of links connected by linear ts (L). Gantry robots are Cartesian robots (LLL). A robot with 3 prismatic ts – the axes consistent with a Cartesian coordinate system. Commonly used for:    

Pick and place work Assembly operations Handling machine tools Arc welding

DEPARTMENT OF MECHANICAL ENGINEERING


Figure 1: Cartesian robot with its rectangular workspace

Advantages:   

Ability to do straight line insertions into furnaces. Easy computation and programming. Most rigid structure for given length.

Disadvantages:    

Requires large operating volume. Exposed guiding surfaces require covering environments. Can only reach front of itself Axes hard to seal

in

corrosive or dusty

Cylindrical Co-Ordinate Robot. The cylindrical co-ordinate robot is a variation of the Cartesian robot. This robot consists of a base and a column, but the column is able to rotate. It also carries an extending arm that can move up and down on the column to provide more freedom of movement. The cylindrical co-ordinate robot is designed for handling machine tools and assembly.



Robots with cylindrical configuration have one rotary ( R) t at the base and linear (L) ts succeeded to connect the links. A robot with 2 prismatic ts and a rotary t – the axes consistent with a cylindrical coordinate system. Commonly used for:    

Handling at die-casting machines Assembly operations Handling machine tools Spot welding

Figure 2: Cylindrical robot with its cylindrical workspace

Advantages:     

Can reach all around itself Rotational axis easy to seal Relatively easy programming Rigid enough to handle heavy loads through large working space Good access into cavities and machine openings

Disadvantages:  

Can't reach above itself Linear axes is hard to seal



 

Won’t reach around obstacles Exposed drives are difficult to cover from dust and liquids

Spherical Co-Ordinate Robot. The polar co-ordinate, or spherical co-ordinate robot consists of a rotary base, an elevation pivot, and a telescoping extend-and-retract boom axis. These robots operate according to spherical co-ordinates and offer greater flexibility. They are used particularly in spot welding. Polar robots have a work space of spherical shape. Generally, the arm is connected to the base with a twisting (T) t and rotatory (R) and linear (L) ts follow. A robot with 1 prismatic t and 2 rotary ts – the axes consistent with a polar coordinate system. Commonly used for:   

Handling at die casting or fettling machines Handling machine tools Arc/spot welding

Figure 3: Spherical robot with its Spherical/Polar workspace



Advantages:  

Large working envelope. Two rotary drives are easily sealed against liquids/dust.

Disadvantages:   

Complex coordinates more difficult to visualize, control, and program. Exposed linear drive. Low accuracy.

Conclusion: The three basic robot configurations based on co-ordinate system is studied in details. This will help you in deciding the workspace area of robot for a particular operation/task and to choose correct type of co-ordinate configuration of robot for design. Postlab: 1. Decide suitable robot co-ordinate configuration any seen or unseen application. 2. Why do you prefer only that particular robot co-ordinate configuration?



EXPERIMENT NO. 2 TITLE: DEMONSTRATION OF ARTICULATED/SCARA ROBOT Objective: To study different robot configurations. Prelab: 1. Have you seen Articulated/SCARA configuration robot? 2. Give any practical example of each of them. Introduction: Industrial Robots Definition

A robot is a programmable arm simulator. “A robot is a re-programmable, multifunction manipulator designed to move material, parts, tools, or special devices through variable programmed motions for the performance of a variety of tasks”

Articulated Robot: Those with the designation TRR are also called articulated robots. An articulated robot more closely resembles the human arm. The ted-arm is a combination of cylindrical and articulated configurations. The arm of the robot is connected to the base with a twisting t. The links in the arm are connected by rotary ts. Many commercially available robots have this configuration. A robot with at least 3 rotary ts. Commonly used for:     

Assembly operations Welding Weld sealing Spray painting Handling at die casting or fettling machines



Figure 1: Articulated robot

Advantages:   

All rotary ts allows for maximum flexibility Any point in total volume can be reached. All ts can be sealed from the environment.

Disadvantages:   

Extremely difficult to visualize, control, and program. Restricted volume coverage. Low accuracy

SCARA Robot: The SCARA (Selective Compliance Assembly Robot Arm) is a cylindrical type, whose reach is obtained by using a revolute, instead of a prismatic t. SCARA robot is suitable for assembly operation and is therefore extensively used in several industries for this purpose. A robot with at least 2 parallel rotary ts.



Commonly used for:  

Pick and place work Assembly operations

Figure 2: SCARA robot with its workspace

Advantages:    

High speed. Height axis is rigid Large work area for floor space Moderately easy to program.



Disadvantages:    

Limited applications. 2 ways to reach point Difficult to program off-line Highly complex arm

Conclusion: These two configurations apart from three basic robot configurations based on co-ordinate system are for the advanced usages. This will help you in deciding the workspace area of robot for a particular operation/task and to choose correct type of co-ordinate configuration of robot for design. Postlab: 1. Decide suitable robot co-ordinate configuration any seen or unseen application. 2. Why do you prefer only that particular robot co-ordinate configuration?



EXPERIMENT NO. 3 TITLE: VERTUAL MODELING FOR KINEMATIC AND DYNAMIC VERIFICATION ANY ONE ROBOTIC STRUCTURE USING SUITABLE SOFTWARE Objective: To the inverse kinematic and inverse dynamic modeling of one-link arm or two-link arm as robotic structure using MATLAB. Prelab: 1. Do the inverse kinematic and dynamic virtual modelings for one or two-link arm robot/manipulator. 2. How much did you cope with MATLAB? Introduction: To the inverse kinematic and inverse dynamic modeling of one the simple robotic structure MATLAB program is written. MATLAB programming is one of the best ways to the problems.

Figure 1: Kinematics of three-link planer arm Prog.1) Referring above Fig.1, the input homogeneous matrix, T is given as [1/2,√3/2,0, √3+5/2; √3/2,1/2,0, √3/2+1;0,0,1,0;0,0,0,1] where φ=60°, and the non-zero constant DH parameters from table a1=a2=2 units, and a3=1 unit. C2=0.866 and



s2=0.5, which yields θ2=30°. S1=0 and c1=1. Value of t angle θ1 is obtained as θ1=0°. Finally, θ3=30°. Table: DH parameters of the three-link arm Link bi Θi ai αi 1

0

Θ1

a1

0

2

0

Θ2

a2

0

3

0

Θ3

a3

0

Θ is t Variable. In order to solve above example, a MATLAB program is written, as shown below, which can be stored in a file that can be run to yield the above results. % Program for inverse kinematics of 3-link arm % Non-zero constant DH parameters. a1=2;a2=2;a3=1; %Input Phi=pi/3;px=2.5+sqrt(3);py=1+sqrt(3)/2; %Intermediate Calculations wx=px-a3*cos(phi); wy=py-a3*sin(phi); del=wx*wx+wy*wy; %Calculations for theta_2 c2=(del-a1*a1-a2*a2)/(2*a1*a2); s2=sqrt(1-c2*c2); th21=atan2(s2,c2); th22=atan2(-s2,c2); %Calculation for finding theta_1 s11=((a1+a2*cos(th21))*wy-a2*s2*wx)/del; c11=((a1+a2*cos(th21))*wx-a2*s2*wy)/del; s12=((a1+a2*cos(th22)) *wy+a2*s2*wx)/del; c12=((a1+a2*cos(th22)) *wx+a2*s2*wy)/del; th11=atan2(s11,c11); th12=atan2(s12,c12); %Calculation for theta_3 th31=phi-th11-th21; th32=phi-th12-th22; %Angles in degree r2d=180/pi;



th11d=th11*r2d, th12d=th12*r2d, th21d=th21*r2d, th22d=th22*r2d, th31d=th31*r2d, th32d=th32*r2d, Prog.2) For the two-link manipulator as shown in figure 2, consider a1=a2=1, and the t angle variations for both ts, θ1 and θ2, are taken being the same as per equations except that their end conditions are different, i.e. θ1(T)=pi and θ2(T)=pi/2. Using the MATLAB program shown below, the t angle and torque plots can be obtained.

Figure 2: A two-link robot arm % Inverse dynamics for Two-Link Manipulator % Input for trajectory and link parameters T=10; th1T=pi; th10=0; th2T=pi/2; th20=0; m1=1; a1=1; m2=1; a1=1; a2=1 ; g=9.81; con = 2*pi/T; delth1=th1T-th10; delth2=th2T-th20; iner21=m2*a1*a2; for i=1:51, ti(i)=(i-1)*T/50; ang=con*ti(i); %t trajectory th1(i)=th10+(delth1/T)*(ti(i)-sin(ang)/con); th1d(i)=delth1*(1-cos(ang))/T; th1dd(i)=delth1*con*sin(ang)/T; th2(i)= th20+(delth2/T)*(ti(i)-sin(ang)/con);



th2d(i)= delth2*(1-cos(ang))/T; th2dd(i)=delth2*con*sin(ang)/T; thdd=[th1dd(i), th2dd(i)]; %Inertia matrix sth2=sin(th2(i)); cth2=cos(th2(i)); i22=m2*a2*a2/3; i21=i22+iner21*cth2/2; i12=i21; i11=i22+m1*a1*a1/3+m2*a1*a1+iner21*cth2; im=[i11,i12,i21,i22] %h-vector h1=-(m2*a1*a2*th1d(i)+iner21/2*th2d(i))*th2d(i)*sth2; h2=iner21/2*sth2*th1d(i)*th1d(i); hv=[h1,h2] %gamma-vector cth1=cos(th1(i)); cth12=cos(th1(i)+th2(i)); gam1=m1*g*a1/2*cth1+m2*g*(a1*cth1+a2/2*cth12); gam2=m1*g*a2/2*cth12; gv=[gam1,gam2] %t torque tau=im*thdd+hv+gv; tor1(i)=tau(i); tor2(i)=tau(2); end plot(ti,th1,’-‘,ti,th2,’:’) figure plot(ti,tor1,’-’,ti.tor2,’:’) Conclusion: One of the critical modeling as inverse kinematics and dynamics of one or two-link arm manipulator is can be verified with ease using MATLAB software. It takes less time to and gives better understanding too. References:“Introduction to Robotics” by S.K. Saha-Tata McGraw Hill Inc.

Postlab: 1. Are you able to do it for more number of links? 2. Model some more structure and then it using MATLAB.



EXPERIMENT NO. 4 TITLE: DESIGN, MODELING AND ANALYSIS OF TWO DIFFERENT TYPES OF GRIPPERS Objective: To design and by modeling and analysis of two different robotic grippers. Prelab: 1. What are the different types of grippers? 2. Review of modeling and analysis of 3 D parts. Introduction: The design of the end-of-arm tooling for a robotic assembly system is very important for reducing errors and decreasing cycle times. This is the piece of the robotic parts handler or assembler that physically interacts with the environment. While many factors may be blamed for the common failures of workcells, the culprit is very often the grippers. Well designed grippers can increase throughput, improve system reliability, compensate for robot inaccuracy, and perform value added functions to the assembly. Design:In order to design robot we need to consider the gripping force of the robot end-effectors to grip the object without slippage. Model 1: A simple pivot-type gripper is used to hold boxes as shown following figure. The gripping force, Fg required is 20 kgf. The gripper is to be actuated by a piston device to apply an actuating force, Fa. The corresponding lever arms for the two forces are shown in the figure. Taking moments of the forces on one arm and summing them to zero, we get, Fg lg = Fa la Or, Fa = Fg lg lg = 20 x 20 = 80 kgf. 5



Figure: Pivot type gripper Therefore, the piston device would have to provide an actuating force of 80 kgf to close the gripper with a force against the boxes of 20 kgf. Model 2: A block of weight having 1400 N is to be gripped as shown in figure. Find the clamping force assuming a safety factor 2. Assume coefficient of friction = 0.2. The centre of gripping does not coincide with the centre of gravity.

Figure: gripper for clamping force Assuming acceleration a upward, Resolving vertical forces 1400 + 2 F2 = 2 F1 – (Wa/g) Resolving moments about P, 50 F2 = (1400 x 250)/2



Or, F2 = (1400 x 250)/(50 x 2) = 3500 N. Therefore, F1 = 5600 N [assuming a = 2g] Clamping force = (F1 + F2) x safety factor / = (9100 x 2) / 0.2 N = 91000 N This is greater than the value for gripping at the C.G. If the block is to be lifted by holding it at the C.G. of the block, the gripping force will be less. Modeling:Modeling of different robot grippers is done using suitable modeling software like Solid Edge, Pro-Engineer or Catia V5 for example see 3 D figure.

Figure 1: Gripper Approaching Part from Side Analysis:Modeled robotic gripper is analyzed for the regions where the maximum stresses are generated. The region of max stresses is to be considered as a region of probability of failure. The crack propagation may from the same location where there is maximum stresses and hence chances of failure. This failure region can be detected/analyzed through the analysis software like ANSYS or ABAQUS Conclusion: Two different types of grippers are designed and modeled using CAD software. Further it is analyze for maximum stresses using Analysis software (ANSYS). Postlab: 1. Design grippers considering its types i.e. Electrical, Pneumatic, Hydraulic? 2. Analyze the grippers for max stresses and strains.



EXPERIMENT NO. 5 TITLE: STUDY OF SENSOR INTEGRATION Objective: To study the theory of sensory integration. Prelab: 1. What do you know about Sensory Integration (SI)? 2. What are the application areas of SI? Introduction: We would like to talk about “What is Sensory Integration?” Although this seems like an obvious question, it is important to define what is and what is not sensory integration as many research studies purport to use SI, yet the modifications of treatment are so substantial as to make one question whether the procedures truly are sensory integrative.

Characteristics of Sensory Integration Procedures:         

active participation child directed individualized treatment purposeful activity need for adaptive response3 input varies based on child’s response activity rich in proprioceptive, vestibular and tactile input implied or stated goal of improving processing and organization of sensation (not the teaching of specific skills) istered by a trained therapist (OT or PT)

Thus, studies which involve pure sensory stimulation such as that of controlled, systematically applied vestibular stimulation (e.g., the work of Kantner) should not be grouped with those of sensory integration. Similarly, perceptual motor programs which tend to be preplanned, therapist directed, structured programs should be considered separately. The distinction is not always clear-cut since some studies combine sensory integration and perceptual motor procedures. For example, Huff and Harris in their study with 34 mentally retarded adults utilized sensory integration activities but in a specified sequence. In their study, each treatment session was divided into four areas: CNS normalization (excitation or inhibition),



sensory stimulation, reflex inhibition and gross motor activity, and visual motor activity. Thus, treatment was substantially more structured than in sensory integration, and was therapist directed rather than therapist guided. Even among the experts, there is not clear agreement as to what is considered to be sensory integration. In his review of SI research, Ottenbacher included the studies by DePauw and by Montgomery and Richter whereas Clark and Pierce did not. On the other hand, Clark and Pierce and Ottenbacher include the study by Magrun in their review of SI research even though the therapy program consisted of 3 ‘therapist designed’ activities from which the client chooses. However, despite this problem, the importance of clearly defining Sensory Integration is of particular importance since reviewers of studies of sensory integration effectiveness often have included research studies in which treatment violated so many of the principles of sensory integration procedures. Although the treatment may have drawn upon SI theory, it was not sensory integration therapy.

Are Sensory Integration Procedures Effective?

The next issue we would like to address deals with what the literature says about the effectiveness of sensory integration procedures. Since 1980, there have been 7 articles which have reviewed the sensory integration effectiveness literature. These are listed in the first part of your bibliography. Examination of these reviews and other related literature indicates that at present, there is not consistent agreement regarding the effectiveness of sensory integration. Clinicians who are using sensory integration procedures are convinced that it is effective. In 1986, Florence Clark and Doris Pierce presented a literature review on SI and other relevant treatment effectiveness studies specifically carried out with pediatric populations by occupational therapy researchers. The twenty-six studies found included research with large samples as well as single-subject designs. Thirteen of the studies examined the effectiveness of sensory integration procedures as their independent variable, four examined the effect of systematically applied vestibular stimulation, four of multisensory input, and five of perceptual motor training. Given these numbers of studies, it becomes apparent that occupational therapy efficacy research in this area is progressing, although slowly.

Why and How Does Sensory Integration Work ?

We would next like to discuss the issue of why and how sensory integration procedures are effective. In sensory integration theory, we hypothesize that we are



influencing brain organization and brain change. The idea that the neural organization is actually changing or developing as a result of the sensory input/adaptive response is controversial. Brain change in humans is nonobservable and thus, it is very difficult to establish for it. In demonstrating the effectiveness of sensory integration, we are primarily limited to observable behaviors. Brain change can be inferred only from indirect observable variables, such as change in a child’s performance; it cannot be easily directly observed except, perhaps, through autopsy. There is some possible for the effect of sensory integration therapy on change in the nervous system. In a study by Kawar, findings suggested that sensory integration therapy positively influenced hemispheric specialization as measured by a dichotic listening task in a sample of children with learning disabilities. Ottenbacher demonstrated change in postrotary nystagmus, as measured by the Southern California Postrotary Nystagmus Test (SNT), with multiple measurements of 3 children over a 20-week treatment period. However, as Ottenbacher noted, many factors contribute to postrotary nystagmus (PRN) as tested with the SNT, thus it is not clear whether or not the PRN change was due to change in central nervous system physiology or to other factors.

Factors Influencing the Effectiveness of Therapy :

In sensory integration research, a significant amount of effort has been devoted to trying to identify which children will respond to SI procedures. Much attention has been directed toward examining factors related to qualities of the patient or client, for example the child’s age, the diagnosis the degree of responsiveness to certain kinds of sensory input. For example, learning disabled children who show a shortened duration of postrotary nystagmus appear to improve to a greater degree from SI treatment than those children who do not show this type of dysfunction. Following are some of the variables which may influence a child’s response to therapy. These can be categorized as treatment variables, patient variables, and therapist variables.

Variables Which May Influence Response to Therapy:   

Treatment variables: sequence of kinds of sensory input; therapist induced vs. child induced stimulation Patient variables: age, sex, diagnosis, severity Therapist variables: sex, personality, expectations



Variables which influence the response to therapy can be examined in a number of ways:1) through observation of treatment, 2) through theory, and 3) through controlled testing. Let us take the example using the variable of the child’s age. Through working with children of a variety of ages, we may clinically observe through treatment that children that make the most rapid gains in therapy are children who have not yet entered school, thus primarily children under 6. We may draw upon theories of brain plasticity which would indicate that the younger the child, the more plastic the brain, and since we feel we are influencing brain function, we may hypothesize that SI would be most effective with younger children. Finally, we may carry out controlled testing specifically to examine age effects, or, we may review the literature, in a meta-analysis, and examine the effect of age on outcome. Conclusion: Here the Sensory Integration (SI) therapy is studied which is very important and effective for the treatments. This concept is still a field of development and hence need to be well researched. Reference:Sharon A. Cermak, “The Efficacy of Sensory Integration Procedures”, 1990 issues of Sensory Integration Quarterly. Postlab: 1. What is your opinion about the area? 2. Do you have any idea of/for the concept or the area where the concept has to be applied?



EXPERIMENT NO. 6 TITLE: TO PROGRAM FOR LINEAR AND NON-LINEAR PATH Objective: To study the VAL language programming for linear and non-linear path. Prelab: 1. What are different robot languages? 2. What are the different trajectory paths possible of robot manipulator? Introduction: VAL Language: VAL is a popular textual robot language developed by Unimation Inc. for the PUMA series of robots. VAL has been upgraded to VAL II system with more interlocking facilities. Victor Sheinman developed VAL language. VAL is very friendly. It provides arm movement in t, world and tool coordinates, gripping and speed control. WAIT and SIGNAL commands can be given to implement a specific task. The commands are subroutines written in BASIC and translated with the aid of an interpreter. Compiled BASIC has more flexibility. Following are the two programs which are written for specific tasks and they are with linear and non-linear paths of manipulator. Depalletizing: In a pallet objects protruding 40 mm from the face of the pallet are located in a number of rows and columns. The pallet has 3 rows that are 30 mm apart and 4 columns that are 50 mm apart. The plane of the pallet is assumed to be parallel to the X-Y plane. The rows are parallel to X-axis and the columns are parallel to Y-axis. The objects are to be picked up one after another from the pallet and placed in a location of sliding channel (chute). Figure 1 indicates the pallet.  PROGRAM DEPALLET 1 REMARK PROGRAM TO PICK OBJECTS FROM A PALLET REMARK CORNER AND CHUTE LOCATIONS ARE TAUGHT SETI MAXCOL = 4 SETI MAXROW = 3 SETI ROW = 1 SETI COLUMN = 1



10

SET PICK = CORNER SHIFT PICK BY 20.00, -20.00, 60.00 OPENI MOVE PICK DRAW 0,0,-25.00 CLOSEI DRAW 0,0,25.00 MOVE CHUTE OPENI GOSUB PALLET IF ROW LE MAXROW THEN 10

END PRPGRAM PALLET REMARK SUBROUTINE FOR LOCATIONS SETI COLUMN = COLUMN + 1 IF COLUMN GT MAXCOL THEN 20 SHIFT PICK BY 50.00,0.00,0.00 GO TO 10 20 SETI ROW = ROW + 1 IF ROW GT MAXROW THEN 30 SHIFT PICK BY -150.00, -30.00, 0.00 SETI COLUMN = 1 30 RETURN END

 

The weld trajectory: A weldment is to be made as shown in figure 2. The weld trajectory is a continuous path arc welding along the paths X2-X3 with triangular weaving, X3-X4 with straight weld, X4-X5-X6 with circular interpolation, X6-X7 with straight weld, X7-X8-X9 with circular arc, X9-X10 with straight weld and X10-X11 with five point weaving. The weld torch begins its movement from home position X1 and departs to location X12. Craterfilling is done at the end of trapezoidal weaving. Write a VAL program for suitable arc welding.



Figure 1: Depalletizing



PRPGRAM WELD CURVE 1 WSET 1 = 10, 40, 50 2 WSET 2 = 8, 35, 60 3 WSET 3 = 12, 40, 55 4 WVSET 1 = 5, 5 5 WVSET 2 = 10, 7, 2, 0, 1, 2, 0 6 MOVE X1 7 MOVE X2 8 WSTART 1,1 9 MOVE X3 10 WEND 0.5 11 WSTART 2 12 MOVES X4





13 14 15 16 17 18 19 20 21 22 END

CIRCLE X4, X5, X6 MOVES X7 CIRCLE X7, X8, X9 MOVES X10 WEND 0.5 WSTART 3, 2 MOVES X11 CRATERFILL 0.8, 3 WEND 0.5 MOVE X12

Figure 2: The weld trajectory Conclusion: One of the Robot Programming Languages (RPL) i.e. VAL language is used for linear and non-linear paths and which is collectively, found easier way of programming. Reference:“ROBOTICS TECHNOLOGY AND FLEXIBLE AUTOMATION” by S. R. Deb, Tata McGraw-Hill Publication Company Ltd. Postlab: 1. Write programs for applications comprising linear and non-linear paths.


Robotics Lab Manual 3g2022

Overview 3e4r5l

More details w3441

Related Documents 3m3m1z

Robotics Lab Manual Final 545l

Robotics Lab Manual 3g2022

Robotics 2j3n3h

Safemove | Application Manual | Abb Robotics 2b714b

Mobile Robotics 5e1x60

Robotics - Presentation 6l3o2y

More Documents from "Abhijeet Sahu" 6h563d

Robotics Lab Manual 3g2022

6l6m1j

1. Material Science Conventional Question And Answer.pdf 3d2b6c

Is 813.pdf 4v6r5i

Try These Funny Hindi Rhymes To Memorize That Tricky Periodic Table - Kshitij 246e65

31-08-16 A-mbbs Bds Online Counseling Govt 53676r