Offline Programming to Control Robot Manipulator in Virtual Kinematic Learning Tool

Abstract

Robot programming demands skilled robot programmers. Conventional methods of robot programming include teaching robot using the teach pendant and the high level programming language. Teaching robot kinematics and solving kinematic problems are complex and they involve robot programming. With the advancement of computer and robotic technologies, this can be solved via computer simulation. In this paper, an approach for programming the robots manipulator via an offline virtual kinematic learning tool is proposed. A virtual system is developed which has a user interface for users to improve the knowledge of the robot manipulators kinematic. Basic kinematics note, exercise and forward kinematic calculation based on Danavit Hertenberg method was included in the system. A template will be provided to the user as a guide to develop the controller to control the simulation of the virtual robot. The input and output method will be used to transfer data from the controller to the offline kinematic learning tool. After receiving the input, the data is stored in a text file. This data will provide the value of each angle of the virtual robots to allow the system to generate the final position of the virtual robot and the virtual robot manipulator will be displayed and animated accordingly. Besides that, the offline robot programming will be generated by the system according the simulation planned by the user. This offline virtual kinematic simulation will help to provide a better understanding of the robot manipulators kinematic.