(An) approach to educational robot programming

Abstract

This thesis describes a method of developing a robot programming system for educational robots. A brief introduction is provided about the basic concepts of robot programming, including its historical development, as well as the structure of robot manipulators. From the existing methods of (industrial) robot programming, desirable characteristics of an educational robot programming system are identified so that the programming system can broaden the applicability of educational robots. Also discussed are the inherent limitations of educational robots. Based on a kinematic modelling of a robot manipulator, a design procedure for developing an educational robot programming system is proposed. As an implementation example, a prototype programming system has been developed for the Rhino educational robot. The programming is written in BASIC and is run on a processor(Z80A) which controls the robot arm through a RS232C serial interface line. The program is of a play-back (PTP motion) type.