Off-Line Robot Programming Framework

Abstract

The industrial robot programming is a work for specialist in robotics. Today, this work is very hard because there are many robot manufacturers with different languages and different programming environments. Although, off-line programming is an way that can reduce drastically the machines stop time to maintenance. With the use of object oriented design patterns, it is possible minimize the time spent in robot programming. In this work is proposed a off-line programming environment. This tool is based in one abstract model to program robots, encapsulate in java classes. This way has the main advantage of best source code utilization. Grouping the business classes in modules by functionalities, we can reduce complexity between low matching. Recognized patterns like Facade and Template Method will construct the base to develop this programming framework. The programming robot languages tested in this work was Rapid, Karel and Melfa Basic IV, respectively languages used by ABB, Fanuc and Mitsubishi constructors.