A Study of Robot Control Programing for an Industrial Robotic Arm

摘要

The manufacturing and production industry today is still looking for improvement of their process. Programming of articulated industrial robots is a main field for manufacturing industry improvement. This work presents a study on the operation and movement control of a 6 degrees of freedom (DOF) robotic arm. A robot movement control and programming support system is presented for industrial use. Movement control programming of the robot unit is accomplished using MELFA-BASIC V which is the actual programming language for all modern Mitsubishi industrial Robots and as an industrial robot language it is very difficult to deal with. This article describes a design of programming algorithm for a movement control taking on consideration the speed and maximum possible accuracy. The presented experiment designs and analyzes speed optimizing motions on high accuracy motions. Circular motions and motions on straight line are required in the industry. In these types of motion the accuracy of the trajectory is very important.