Creating a programming language for the AL5 type robotic arms

Author

Szabo, Roland ; Gontean, Aurel

Author_Institution

Fac. of Electron. & Telecommun., “Politeh.” Univ. of Timisoara, Timisoara, Romania

fYear

2013

fDate

2-4 July 2013

Firstpage

62

Lastpage

65

Abstract

This paper presents all the steps involved in the development of a new and friendly programming language for the AL5 type robotic arm. The AL5 can be controlled via the RS-232 serial port using SCPI (Standard Commands for Programmable Instruments) commands, but this method can control one motor at a time. The robotic arm has 5 + 1 motors; the last motor is an optional motor used to rotate the gripper. Motor sequential control is not the best option, so a method is necessary. Our idea was to teach the robotic arm by moving it in a PTP (Point to Point) path. While moving the motor, positions are saved in text file; afterwards an application can read those text files moving the robot autonomously in the desired path.

Keywords

machine control; programming languages; robots; AL5 type robotic arms; RS-232 serial port; SCPI; motor sequential control; programmable instruments; programming language; standard commands; Computer languages; Grippers; Manipulators; Robot kinematics; Servosystems; Wrist; Motor control; PTP (Point to Point); RS-232 serial interface; robotic arm; teaching; trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Telecommunications and Signal Processing (TSP), 2013 36th International Conference on

Conference_Location

Rome

Print_ISBN

978-1-4799-0402-0

Type

conf

DOI

10.1109/TSP.2013.6613892

Filename

6613892