1. The nature, functions and structure of operating systems.

THE NATURE OF OPERATING SYSTEMS Definition: An operating system is a configuration of resources combined for the provision of goods or services Functions of operating systems 1- Manufacture, in which the principal common characteristic is that something is physically created - form utility 2- Transport - someone or something is moved from place to place, i.e. the location of someone or something is changed -place utility 3- Supply - ownership or possession of goods is changed possession utility 4- Service, in which the principal common characteristic is the treatment or accommodation of something or someone - state utility

2. Basic types of layouts for manufacturing

Main layouts for manufacturing: 1. Layout by process = Operations with a similar nature are grouped together in the same department or part of the factory. 2. Layout by product = Facilities are arranged according to the needs of the product. 3. Layout by fixed position = The production equipment and workers moves around the product. 4. Group layout (or cell) = A hybrid form which provides a type of product arrangement of facilities for the manufacture of similar items.

3. Assembly automation. Assembly robots environment

Assembly automation The wage costs included in the manufacturing costs of a product are segregated into the following component 1. metal-cutting production 2. non-cutting production 3. moulded parts 4. assembly 5. testing

4. Structure of an assembly position. Stages of the automatically assembly.

5. Sources of error in an assembly system.

6. Robot Programming Systems

Robot Programming is the defining of desired motions so that the robot may perform them without human intervention.

7. The Layers of a Robotic Software System A robotic software system at the system controller level can be broadly divided into three layers. The three layers of robotic software at the system controller level are illustrated in Figure.

8. Levels of abstractions in Industrial Robot Programming

9. Robot Programming Methods

There are two main method of industrial robot programming on- line and offline. On-line This method uses the robot to generate the program. The major advantage with on-line programming is that it is concrete. Abstract world modeling and computer simulation is not needed. That can be used by the production technician with no or little experience in computer programming. Off-line programming means that the mechanical robot is not occupied during programming. The programming takes place in a host computer. Offline programming is the subject for almost all research in robot programming. Combination Programming Often industrial robot programming is a combination of on-line and off-line programming.

10.

Basic term, used in Industrial Robot Programming.

The most common terms used in industrial robot programming are: The degree of freedom DOF [degrees of mobility] is displacements that specify the orientation of the body or system. The degree of freedom of a robotic system can be compared to the way in which the human body moves. For each degree of freedom a joint is required. Coordinate Systems Base coordinate system Flange coordinate system Tool coordinate system Work Envelope End-point Pose Configuration

11.

Motion control and types of interpolations.

Motion control in industrial robot programming There are two types of Motion control in industrial robot programming. They are: Point-to-point (PTP) Point-to point or positioning systems are most common systems. This system can move robot arm from one specified point to another but cannot stop at arbitrary points not previously designated. The robot can be instructed to move to any point within the working envelope of the robot. 1. Sequential 2. Uncoordinated 3. Terminally coordinated 4. PTP with interpolation. Continuous path (CP) Continuous path, Continuous simultaneous control or contouring is an extension of the point-to-point method. The output from of the user programming is robot program which instruct the robot for a specific task.

15.

Assembly robots cycle and components.

16.

Structure of the IR Bosch 60 Sprint Control.

17.

Stages of programming and types of files.

Stages of programming 1.Create a program and save in ASCII format as: G: G:\prog prog\ms_ID. qll 2.Compile the file in *.IRD format 3.Insert points co-ordinates in point file with the same name (*.PKT) file 4.Copy all files to Robot control (RC) (*.QLL, *.IRD, *.PKT, *.SIM *.SIM) 5.Start the program

18.

Movement instructions MOVE TO and MOVE VIA.

Example.

19.

Movement instructions MOVE_REL and

MOVE_APPROX. Example

20.

Interpolation mode PTP and LINEAR. Example

PTP interpolation mode The control calculates the movements of all axes so that they simultaneously start and end movemen. LINEAR interpolation mode The robot travels to the destination point on a straight line. The straight line is geometrically defined by two points.

21. Interpolation mode CIRCULAR. Example CIRCULAR interpolation mode The robot travels to the destination point on a circular path in space. The circle is geometrically defined by three points.

22.

23.

Speed, acceleration and time.

The control requires additional information about the duration of the movement or the path speed of the robot. A value can be entered for acceleration in order to determine how quickly the robot is to reach this path speed.

23.

Program flow statements WAIT

Program flow statements 1. Wait statement 1.1 Dwell time 2. Waiting for a condition to occur 2.1 Maximum wait time 3. Pause statement 4. HALT statement 5. Program part repetition 6. Jump statement 7. Conditional statement