PIN-a PC-based robot simulation and offline programming system using macro programming techniques

Abstract

In order to meet the demands of small and medium sized enterprises (SME) for high effective robot offline programming in the welding business, a graphical robot simulation and offline programming system (called PIN-PC-based interactive programming system for industry robots) has been developed. Its specially tailored design enables fast, easy and economical programming assisted by user-oriented functions. Running on a PC, PIN offers features which previously could only be performed by workstations and powerful graphical tools. One of the key programming functions includes macro programming techniques which are based on the idea of combining often repeated actions (for example sequences of torch motion, TCP measurement, sensor-based calibration and search operations, program initialisation, etc.) in task-oriented macro modules. The use of macros will lead to reduced programming times and increased flexibility in program generation. Combined with an icon-oriented man-machine interface, PIN enables robot programming without knowledge of robot language syntax. An integrated simulation module will improve the system performance by visualisation of the robot motion and path validation. A Win32 communication interface takes responsibility for up- and download operations between robot controller and PIN-system as well as for controller functions' execution.