Robot Manipulation

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Prepared by Rene Garcia
 Robot Manipulation

Programming Terminologies

TCP (Tool Centre Point) - Imaginary reference axis embedded

in the Robot where some of its
movement is dependent.
ROBOT
Tool - Extension part of the Robot where TOOL

work is executed. ROBOT

+z

Robot Movement
+y

Joint 4 +x

+z
Joint 5
Joint 3 Joint 6 -z
+y

+x
+x
+x

Joint 2 +y

-z

+y
Joint 1
Joint 7

Base Movement Joint Movement Tool Movement

Robot movement patterned Movement of Robot Robot movement patterned
on TCP regardless of tool by parts on TCP but dependent on
orientation. orientation of Robot Tool

Basic Commands

LMOVE - Linear movement of Robot. The +z

TCP from origin will create a Point 1

+y

straight trajectory to the next +x

LMOVE
+z
destination point.
+z +y
Point 2
JMOVE - Movement of Robot using all its Point 1
+x
+y
axis +x
+z

AC - Robot Move (LMOVE or JMOVE)

+y
AS - Arc Spot/Welding Spot JMOVE +x
Point 2

WS - Welding Start
WC - Welding Continue
WE - Welding End

Command Associated with Movement

Speed - Execution of command at rate equal to Robot Speed

Accuracy - Precision of Robot Movement.
Decel - deceleration – speed of command execution decelerating at
rate equal to actual Robot speed.
Accel - Acceleration - speed of command execution accelerating at
rate equal to actual to Robot speed.
Page 2 of 2
Prepared by Rene Garcia