how to create barcode in vb.net 2008 Robot Programming and Interfaces in Software

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Robot Programming and Interfaces
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Main article robotics suite. The setup or programming of motions and sequences for an industrial robot is typically taught by linking the robot controller to a laptop, desktop computer, or (internal or Internet) network, Fig. 8.38. Software. The computer is installed with corresponding interface software. The use of a computer greatly simplifies the programming process. Specialized robot software is run either in the robot controller or in the computer or both depending on the system design. Teach pendant. Robots can also be taught via a teach pendant, Fig. 8.39; a handheld control and programming unit.
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FIGURE 8.38 Of ine programming by ROBCAD.
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FIGURE 8.39 A typical well-used teach pendant with optional mouse.
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The common features of such units are the ability to manually send the robot to a desired position, or inch or jog to adjust a position. They also have a means to change the speed since a low speed is usually required for careful positioning or while test-running through a new or modified routine. A large emergency stop button is usually included as well. Typically, once the robot has been programmed there is no more use for the teach pendant. Lead-by-the-nose. Lead-by-the-nose is a technique offered by most robot manufacturers. While the user holds the robot end effector, another person enters a command that de-energizes the robot and it goes limp. The user then moves the robot by hand to the required positions or along a required path, while the software logs these positions into memory. The program can later run the robot to these positions or along the taught path. This technique is popular for tasks such as paint spraying. In addition, machine operators often use user interface devices, typically touch screen units, which serve as the operator control panel. The operator can switch from program to program, make adjustments within a program and also operate a host of peripheral devices that may be integrated within the same robotic system. These include end effectors, feeders that supply components to the robot, conveyer belts, emergency stop controls, machine vision systems, safety interlock systems, bar code printers, and an almost infinite array of other industrial devices that are accessed and controlled via the operator control panel. The teach pendant or PC is usually disconnected after programming and the robot then runs on the program that has been installed in its controller. However, a computer is often used to supervise the robot and any peripherals, or to provide additional storage for access to numerous complex paths and routines. A robot and a collection of machines or peripherals is referred to as a work cell, or cell. A typical cell might contain a parts feeder, a molding machine and a robot. The various machines are integrated and controlled by a single computer or PLC.
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End Effectors
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The most essential robot peripheral is the end effector, or end-of-armtooling. Common examples of end effectors include welding devices, such as MIG-welding guns, spot-welders, and others; spray guns, grinding and deburring devices (such as pneumatic disk or belt grinders, burrs, etc.); and grippers, devices that can grasp an object, and that are electromechanical or pneumatic. Another common means of picking up an object is by vacuum. End effectors are frequently highly complex, made to match the handled product, and are
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often capable of picking up an array of products at one time. They may utilize various sensors to aid the robot system in locating, handling, and positioning products.
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Movement and Singularities
Most articulated robots perform by storing a series of positions in memory, and moving to them at various times in their programming sequence. For example, a robot that is moving items from one place to another might have a simple pick and place program similar to the following: Define points P1 P5: Safely above workpiece (defined as P1) 10 cm Above bin A (defined as P2) At position to take part from bin A (defined as P3) 10 cm Above bin B (defined as P4) At position to take part from bin B (defined as P5) Define program: Move to P1 Move to P2 Move to P3 Close gripper Move to P2 Move to P4 Move to P5 Open gripper Move to P4 Move to P1 and finish For a given robot, the only parameters necessary to completely locate the end effector (gripper, welding torch, etc.) of the robot are the angles of each of the joints or displacements of the linear axes (or combinations of the two for robot formats such as SCARA). However, the points can be defined in many different ways. The most common and convenient way of defining a point is to specify a Cartesian coordinate for it (i.e., the position of the end effector in mm in the X, Y, and Z directions relative to the robot s origin). In addition, depending on the types of joints a particular robot may have, the orientation of the end effector in yaw, pitch, and roll and the location of the tool point relative to the robot s faceplate must also be specified. For a jointed arm, these coordinates must be converted to joint angles by the robot controller, and such conversions are known as Cartesian
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