How to Program Industrial Robots？

How to Program Industrial Robots

Industrial robot programming involves converting task requirements into executable instructions for robots, which requires consideration of robot types, task demands, and safety standards. Below are the core methods and steps for industrial robot programming, categorized by technical approaches and operational workflows.

I. Core Methods of Industrial Robot Programming

1. Teach Pendant Programming

• Principle: The operator manually guides the robot's end effector (e.g., welding torch, gripper) along the desired path using a teach pendant. The robot records key waypoints and poses to generate a motion trajectory.
• Applications: Repetitive tasks with fixed paths (e.g., welding, painting).
• Steps:
  1. Manually move the robot to the starting point and record its position.
  2. Gradually move the robot to key points along the path, recording coordinates and poses.
  3. Set motion parameters (speed, acceleration).
  4. Save the program and conduct a trial run.
• Advantages: Intuitive and easy to learn, requiring no programming background.
• Limitations: Time-consuming for path adjustments and less adaptable to dynamic environments.

• 2. Offline Programming (OLP)

• Principle: Use 3D simulation software (e.g., RobotStudio, Delmia) on a computer to create a virtual model of the robot workstation, plan paths, and generate programs, which are then downloaded to the robot controller.
• Applications: Complex path planning (e.g., large workpiece machining), multi-robot collaboration.
• Steps:
  1. Import CAD models and build a virtual workstation.
  2. Define tool and workpiece coordinate systems.
  3. Plan paths using simulation software and generate the program.
  4. Verify the program (collision detection, reachability analysis).
  5. Download the program to the robot and debug.
• Advantages: Reduces downtime and supports complex tasks.
• Limitations: Relies on the accuracy of 3D models and requires simulation software support.

• 3. Textual Programming

• Principle: Write programs using robot-specific languages (e.g., KUKA KRL, ABB RAPID) or general-purpose languages (e.g., Python, C++) to define logic and motion commands.
• Applications: Tasks requiring complex logic or interaction with external devices (e.g., sorting, assembly).
• Example (ABB RAPID):
  rapid

  	PROC Main()
  	MoveJ pHome, v1000, fine, tool0; // Move to home position
  	MoveL pPick, v500, z50, tool0; // Linear move to pick-up point
  	SetDO doGripper, 1; // Close gripper
  	MoveL pPlace, v500, fine, tool0; // Linear move to placement point
  	ResetDO doGripper, 0; // Open gripper
  	ENDPROC

• Advantages: Highly flexible and capable of integrating sensors and external devices.
• Limitations: Requires programming skills and can be complex to debug.