Document Type
Thesis
Date of Award
9-30-1987
Degree Name
Master of Science in Mechanical Engineering - (M.S.)
Department
Mechanical Engineering
First Advisor
Rajesh N. Dave
Second Advisor
Bernard Koplik
Third Advisor
Benedict C. Sun
Abstract
The General Electric P50 Robot has Teach Pendent Programming facilities. It is provided with a Computer Linkage - a communication control unit, but is not eguipped with any software which uses this linkage to communicate data between the computer and the P50.
A study was made of many Robot Programming systems existing today. The facilities a programming language should have was noted, and a Robot-Level Programming System was developed, which remote controls the P50 robot.
The program is written in TurboPascal and is developed on IBM PC/AT for communication between the P50 and an IBM PC Compatible Personal Computer. The program is structured and therefore, any extension desired in its capabilities can be easily implemented. There may be some facility which this robot programming system does not support but it can be easily incorporated with some modification.
In the design of this system, transformation matrices were used to define any point in space with respect to a coordinate system located at the base.
The program is command driven and uses English-like syntax. The system is designed in such a way that it does not need an expert in Robotics or Computer Programming to use it. Hence, this language is accessible to the typical worker on the factory floor or any layman for that matter.
The program developed can upload-download data, so that path data can be stored in the computer as well. Using this program, path data can be created on the computer. It facilitates the movement of the robot to any desired point in the working space of the robot and to move each link by a specified angle.
Recommended Citation
Shetty, Subhas Vitthal, "Development of an off-line robot programming system for computer control of GE P50 robot" (1987). Theses. 3320.
https://digitalcommons.njit.edu/theses/3320
