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2026 question paper

Robotic Programming and Software Development

28 questions

  1. Q1(a). Which programming method allows an operator to physically guide a robot through the desired motion? (i) Offline programming (ii) Lead-through programming (iii) Compiler programming (iv) Simulation programming20262m

    Module 1: Introduction to Robot Programming

    Which programming method allows an operator to physically guide a robot through the desired motion?

    (i) Offline programming
    (ii) Lead-through programming
    (iii) Compiler programming
    (iv) Simulation programming

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    Worked Solution

    Answer: (ii) Lead-through programming

    The operator physically guides the arm (or drives it with a teach pendant) through the desired motion, and the controller records the positions.

  2. Q1(b). Which of the following is primarily responsible for performing a task such as gripping or welding? (i) Robot controller (ii) Wrist mechanism (iii) End effector (iv) Coordinate system20262m

    Module 1: Introduction to Robot Programming

    Which of the following is primarily responsible for performing a task such as gripping or welding?

    (i) Robot controller
    (ii) Wrist mechanism
    (iii) End effector
    (iv) Coordinate system

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    Worked Solution

    Answer: (iii) End effector

    The end effector (gripper, welding torch or other tool) is mounted at the wrist and does the actual work on the part.

  3. Q1(c). Which Linux command is commonly used to display the contents of a directory? (i) cd (ii) ls (iii) pwd (iv) mkdir20262m

    Module 2: Basics of Robot Operating System (ROS)

    Which Linux command is commonly used to display the contents of a directory?

    (i) cd
    (ii) ls
    (iii) pwd
    (iv) mkdir

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    Answer: (ii) ls

    ls lists the files and folders in the current directory. cd changes directory, pwd prints the working directory and mkdir creates a directory.

  4. Q1(d). ROS is best described as: (i) A robot hardware component (ii) A robotics software framework (iii) A programming language only (iv) A database management system20262m

    Module 2: Basics of Robot Operating System (ROS)

    ROS is best described as:

    (i) A robot hardware component
    (ii) A robotics software framework
    (iii) A programming language only
    (iv) A database management system

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    Worked Solution

    Answer: (ii) A robotics software framework

    ROS (Robot Operating System) is open-source middleware that provides message passing, tools and libraries for building robot software. It is not an operating system in the usual sense.

  5. Q1(e). Which ROS mechanism is more appropriate when a client requests a specific operation and expects a response? (i) Topic (ii) Service (iii) Parameter (iv) Package20262m

    Module 2: Basics of Robot Operating System (ROS)

    Which ROS mechanism is more appropriate when a client requests a specific operation and expects a response?

    (i) Topic
    (ii) Service
    (iii) Parameter
    (iv) Package

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    Worked Solution

    Answer: (ii) Service

    A ROS service is a synchronous request/response call: the client sends a request and waits for the reply. Topics are one-way publish/subscribe streams.

  6. Q1(f). VAL is primarily associated with: (i) Industrial robot programming (ii) Database programming (iii) Web application development (iv) Computer graphics20262m

    Module 3: Robot Languages-VAL I & II

    VAL is primarily associated with:

    (i) Industrial robot programming
    (ii) Database programming
    (iii) Web application development
    (iv) Computer graphics

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    Worked Solution

    Answer: (i) Industrial robot programming

    VAL (Versatile Assembly Language) was developed by Unimation for programming industrial robots such as the PUMA.

  7. Q1(g). Which category of VAL commands is primarily concerned with controlling robot movement? (i) Motion control commands (ii) File management commands (iii) Network commands (iv) Database commands20262m

    Module 3: Robot Languages-VAL I & II

    Which category of VAL commands is primarily concerned with controlling robot movement?

    (i) Motion control commands
    (ii) File management commands
    (iii) Network commands
    (iv) Database commands

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    Worked Solution

    Answer: (i) Motion control commands

    Commands such as MOVE, MOVES, APPRO, DEPART and SPEED control robot movement. Hand control and program control commands handle the gripper and program flow.

  8. Q1(h). RAPID is a programming language primarily associated with: (i) Industrial robots (ii) Database servers (iii) Mobile phones (iv) Computer networks20262m

    Module 4: Robot Languages-RAPID & AML

    RAPID is a programming language primarily associated with:

    (i) Industrial robots
    (ii) Database servers
    (iii) Mobile phones
    (iv) Computer networks

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    Worked Solution

    Answer: (i) Industrial robots

    RAPID is the high-level programming language of ABB industrial robots.

  9. Q1(i). AML programming includes commands related to: (i) Motion and sensor operations (ii) Only database management (iii) Only image compression (iv) Internet browsing20262m

    Module 4: Robot Languages-RAPID & AML

    AML programming includes commands related to:

    (i) Motion and sensor operations
    (ii) Only database management
    (iii) Only image compression
    (iv) Internet browsing

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    Worked Solution

    Answer: (i) Motion and sensor operations

    AML (A Manufacturing Language) includes motion commands, sensor commands, program control and data processing.

  10. Q1(j). Which of the following is a major characteristic of soft robotics? (i) Use of compliant/deformable structures (ii) Use of only rigid metal structures (iii) Operation without any control system (iv) Absence of sensors20262m

    Module 6: Soft Robotics

    Which of the following is a major characteristic of soft robotics?

    (i) Use of compliant/deformable structures
    (ii) Use of only rigid metal structures
    (iii) Operation without any control system
    (iv) Absence of sensors

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    Worked Solution

    Answer: (i) Use of compliant/deformable structures

    Soft robots are built from flexible materials such as silicone elastomers, so they bend and deform safely and adapt to objects.

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  12. Q2(a). Explain the different types of robot programming methods.20267m

    Module 1: Introduction to Robot Programming

    Explain the different types of robot programming methods.

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    Worked Solution

    Types of robot programming methods

    Robot programming means teaching the controller the positions, motions and logic needed for a task.

    MermaidDiagram
    Rendering diagram…
    Method How it works Advantages Limitations
    Manual lead-through Operator physically moves the arm (or a replica) through the path and positions are recorded Simple, no coding; good for spray painting Needs a light or counter-balanced arm; path quality depends on the operator
    Powered lead-through (teach pendant) Operator drives each axis with pendant buttons and records points Precise point recording; common in industry Robot is out of production while teaching; mostly point-to-point
    Textual (robot language) Program is written in a language such as VAL, RAPID or AML Supports logic, loops, sensors and subroutines Needs programming skill and debugging
    Offline programming Program and simulate on a computer from a CAD model, then download No production downtime; collision checking Needs an accurate model and calibration

    Choosing a method

    Use lead-through for simple repetitive paths, the pendant for pick-and-place, language programming for sensor-based logic, and offline programming for complex or high-volume cells.

    Exam tip

    Name the methods and give one line of working principle and one advantage for each.

  13. Q2(b). Explain different coordinate systems used in robot programming.20267m

    Module 1: Introduction to Robot Programming

    Explain different coordinate systems used in robot programming.

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    Worked Solution

    Coordinate systems used in robot programming

    The position of the robot tool can be described in several frames. The controller converts between them using kinematics.

    MermaidDiagram
    Rendering diagram…
    Coordinate system Origin and axes Typical use
    Joint (axis) Each joint angle or displacement (θ₁ to θ₆) Moving a single axis, reaching a configuration, avoiding singularities
    World / global Fixed point in the cell, usually on the floor Coordinating several robots and equipment
    Base Fixed to the robot base Default Cartesian jogging
    Tool Origin at the tool centre point (TCP); moves with the tool Moving along the tool direction, e.g. drilling or welding
    User / work-object Defined on a fixture or workpiece Reusing a program when the fixture moves

    Arm geometries and their coordinates

    Cartesian (x, y, z), cylindrical (r, θ, z), spherical (r, θ, φ) and articulated (joint angles).

    Why it matters

    A taught point is stored relative to a frame. If the frame is shifted (for example a moved fixture), all related points move with it without reteaching.

    Exam tip

    Draw base, world, tool and work-object frames on one sketch with the axes labelled.

  14. Q3(a). Describe the major components and functions of a robot controller.20267m

    Module 1: Introduction to Robot Programming

    Describe the major components and functions of a robot controller.

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    Worked Solution

    Robot controller: major components and functions

    The controller is the brain of the robot: it stores the program, computes motion and drives the actuators.

    MermaidDiagram
    Rendering diagram…

    Major components

    Component Function
    Processor and memory Run the operating system and program interpreter; store programs and data
    Motion planning software Inverse kinematics, trajectory generation and interpolation
    Servo drives / amplifiers Supply power to each motor according to the command
    Feedback devices Encoders and resolvers report joint position and speed
    I/O interface Connects sensors, grippers, conveyors and PLCs
    Teach pendant interface Lets the operator jog, teach and run programs
    Communication ports Ethernet, fieldbus and serial links to other systems
    Power supply and safety circuits Provide power, emergency stop and safety interlocks

    Functions

    Program storage and execution, trajectory generation, closed-loop servo control, sensor and I/O handling, communication, and safety monitoring.

    Exam tip

    Draw the block diagram and give one line per block.

  15. Q3(b). Explain how the controller coordinates robot movement.20267m

    Module 1: Introduction to Robot Programming

    Explain how the controller coordinates robot movement.

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    Worked Solution

    How the controller coordinates robot movement

    MermaidDiagram
    Rendering diagram…

    Steps

    1. Interpretation: the program interpreter reads the next motion command with its target, speed and zone data.
    2. Trajectory planning: the planner builds a path with acceleration, constant-speed and deceleration phases.
    3. Interpolation: intermediate points are calculated at a fixed cycle time (a few milliseconds).
    4. Inverse kinematics: each Cartesian point is converted into joint angles.
    5. Joint synchronisation: all joints start and stop together so the tool follows the planned path.
    6. Servo control: each joint loop compares the set-point with encoder feedback and corrects the error, typically with PID control, u = Kp·e + Ki·∫e dt + Kd·de/dt.
    7. Sensor and I/O coordination: the controller waits for or reacts to signals, for example a conveyor sensor, using interlocks.
    8. Safety monitoring: limits, collisions and emergency stop are checked continuously.

    Exam tip

    The key sequence is instruction, interpolation, inverse kinematics, servo loop.

  16. Q4(a). What is interpolation in robot programming?20267m

    Module 1: Introduction to Robot Programming

    What is interpolation in robot programming?

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    Worked Solution

    Interpolation in robot programming

    Definition: interpolation is the calculation of intermediate positions between a start point and an end point taught in the program, so that the robot moves along a defined path instead of jumping between points.

    The controller generates these intermediate points at a fixed update interval (a few milliseconds) and sends them as set-points to the joint servos.

    MermaidDiagram
    Rendering diagram…

    Why it is needed

    • Only a few key points are taught; the path between them must be generated.
    • It controls path shape, speed and acceleration.
    • It makes the motion smooth and prevents jerks that could damage the mechanism or the workpiece.

    Effect of the method chosen

    The interpolation type decides the tool path: joint interpolation is fastest but the path curves, linear interpolation keeps the tool on a straight line, and circular interpolation follows an arc.

    Exam tip

    Define it in one sentence and name the three main types, which Q4(b) expands.

  17. Q4(b). Explain different types of interpolation used for controlling robot motion.20267m

    Module 1: Introduction to Robot Programming

    Explain different types of interpolation used for controlling robot motion.

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    Worked Solution

    Types of interpolation for robot motion control

    MermaidDiagram
    Rendering diagram…
    Type Principle Tool path Typical commands Use
    Joint (point-to-point) All joints move at the same time from start to end angles and finish together; each follows its own profile Unpredictable curve in space VAL: MOVE; RAPID: MoveJ; FANUC: J Fast moves in free space, approach to a pick point
    Linear (straight line) The tool centre point moves on a straight line; joint angles are recalculated at each step by inverse kinematics Straight line VAL: MOVES; RAPID: MoveL; FANUC: L Welding seams, gluing, insertion
    Circular An arc is defined by three points (start, via, end) and the TCP follows the circle Arc or circle RAPID: MoveC; FANUC: C Circular welds, dispensing around a hole

    Velocity profiles

    Most controllers use a trapezoidal profile (accelerate, cruise, decelerate). Smoother systems use S-curve profiles to reduce jerk.

    Comparison

    • Joint interpolation is quickest and avoids singularities, but the path is not a straight line.
    • Linear and circular interpolation give a controlled path but need more computation and can pass near singularities.

    Exam tip

    A three-row table with VAL and RAPID command examples is enough for full marks.

  18. Q5(a). Explain the basic architecture of ROS.20267m

    Module 2: Basics of Robot Operating System (ROS)

    Explain the basic architecture of ROS.

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    Worked Solution

    Basic architecture of ROS

    ROS (Robot Operating System) is open-source middleware that provides communication, tools and libraries for robot software. Its architecture has three levels.

    1. Computation graph level (runtime)

    MermaidDiagram
    Rendering diagram…
    Element Role
    Master Name service that lets nodes find each other
    Node A process that performs one task
    Topic Named channel for publish/subscribe messages
    Message Typed data structure sent over a topic
    Service Synchronous request/response between nodes
    Action Long-running goal with feedback and cancellation
    Parameter server Shared store of configuration values
    Bag Recording and playback of message data

    2. Filesystem level

    Packages (the basic unit, with package.xml and CMakeLists.txt), metapackages, message and service definitions (.msg, .srv), launch files and the Catkin workspace.

    3. Community level

    Distributions, repositories, the ROS wiki and forums, which allow software sharing.

    Use in modern robotics

    Modular reusable nodes, hardware abstraction, simulation (Gazebo), visualisation (RViz) and ready libraries for navigation and manipulation.

    Note

    The Master-based design is ROS 1. ROS 2 replaces it with DDS-based discovery and has no central master.

    Exam tip

    Draw the Master, two nodes and a topic, and list the three levels.

  19. Q5(b). Explain ROS Nodes and ROS Topics.20267m

    Module 2: Basics of Robot Operating System (ROS)

    Explain ROS Nodes and ROS Topics.

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    ROS Nodes and ROS Topics

    ROS Node

    A node is an executable process that performs one specific computation (e.g. camera driver, motor controller, path planner). A robot system is built from many small nodes that talk to each other, which keeps the software modular and reusable.

    • Each node registers with the ROS Master using a unique name.
    • Nodes can be written in Python (rospy) or C++ (roscpp).
    • Useful commands: rosnode list, rosnode info /talker, rosrun pkg node.

    ROS Topic

    A topic is a named, one-way communication channel (publish/subscribe) over which nodes exchange messages of a fixed type.

    • A publisher sends messages to a topic.
    • A subscriber receives messages from that topic.
    • Many publishers and many subscribers are allowed; they do not know about each other (decoupled).
    • Useful commands: rostopic list, rostopic echo /chatter, rostopic info /chatter.
    MermaidDiagram
    Rendering diagram…
    #!/usr/bin/env python
import rospy
from std_msgs.msg import String


def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10)
    while not rospy.is_shutdown():
        pub.publish('hello robot')
        rate.sleep()


if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

    Node vs Topic

    Point Node Topic
    What it is Process doing a task Named message channel
    Role Publisher / subscriber Carries data between nodes
    Example /talker /chatter

    Exam tip

    Draw the talker → topic → listener diagram and write the two short code snippets; mention the Master only does name lookup, data flows directly node to node.

  20. Q6(a). Explain the concept of a Catkin workspace.20267m

    Module 2: Basics of Robot Operating System (ROS)

    Explain the concept of a Catkin workspace.

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    Worked Solution

    Catkin Workspace

    Catkin is the official build system of ROS (it replaced rosbuild). It is based on CMake and Python and builds many packages together. A catkin workspace is a folder where you create, build and install catkin packages.

    Workspace structure

    MermaidDiagram
    Rendering diagram…
    Folder Purpose
    src Source code of all packages (you edit here)
    build Intermediate build files, CMake cache
    devel Generated executables, libraries and setup.bash
    install Created by catkin_make install 
    mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ~/catkin_ws
catkin_make
source devel/setup.bash

    Each package must contain package.xml (metadata, dependencies) and CMakeLists.txt (build rules).

    Why it matters

    • Builds many packages in one command with correct dependency order.
    • source devel/setup.bash adds the workspace to ROS_PACKAGE_PATH, so rosrun and roslaunch can find your nodes.
    • Workspaces can be overlaid on one another.

    Exam tip

    Write the folder tree, the 5 commands above and the role of package.xml and CMakeLists.txt. (ROS 2 uses colcon instead of catkin.)

  21. Q6(b). Explain the importance of ROS Launch Files.20267m

    Module 2: Basics of Robot Operating System (ROS)

    Explain the importance of ROS Launch Files.

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    Worked Solution

    Importance of ROS Launch Files

    A launch file is an XML file (.launch) that starts many nodes, sets parameters and includes other launch files with a single command:

    roslaunch demo_pkg demo.launch

    Without it, you would open a separate terminal and run rosrun for every node, and also start roscore manually.

    Example (demo.launch)

    <launch>
  <arg name="rate" default="10"/>
  <param name="/loop_rate" value="$(arg rate)"/>
  <node pkg="demo_pkg" type="talker.py" name="talker" output="screen"/>
  <node pkg="demo_pkg" type="listener.py" name="listener" output="screen"/>
  <include file="$(find demo_pkg)/launch/sensors.launch"/>
</launch>
    Tag Use
    <node> Start a node (pkg, type, name, output)
    <param> Set a parameter on the Parameter Server
    <arg> Pass an argument at launch time
    <include> Reuse another launch file
    <remap> Rename a topic
    MermaidDiagram
    Rendering diagram…

    Importance

    1. Starts the whole robot system with one command.
    2. Automatically starts roscore if needed.
    3. Sets parameters and remaps topic names without changing code.
    4. Reusable configurations via include and arg.
    5. Can restart (respawn) crashed nodes and launch nodes on other machines.

    Exam tip

    Always give the small XML example with <node>, <param> and the roslaunch command.

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  23. Q7(a). Explain the classification and basic structure of the VAL robot programming language.20267m

    Module 3: Robot Languages-VAL I & II

    Explain the classification and basic structure of the VAL robot programming language.

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    Worked Solution

    VAL Language: Classification and Basic Structure

    VAL (Variable Assembly Language) was developed by Unimation (for PUMA robots). It is a robot-level (explicit) textual programming language with BASIC/assembly-like structure.

    Classification of robot programming

    MermaidDiagram
    Rendering diagram…

    VAL belongs to the textual, robot-level class: the programmer writes explicit motion and I/O statements.

    Basic structure of a VAL program

    Part Meaning
    Program name .PROGRAM name
    Declarations Variables, locations (points)
    Motion statements MOVE, MOVES, APPRO, DEPART
    Gripper OPEN, CLOSE
    Speed SPEED 50
    I/O and control SIGNAL, WAIT, IF, GOTO, DELAY
    End .END

    Example

    .PROGRAM pick
  SPEED 50
  OPEN
  APPRO part, 50
  MOVE part
  CLOSE
  DEPART 50
  MOVE place
  OPEN
.END

    Features

    • Locations are taught (HERE p1) or computed as transformations.
    • Interpreted, so programs can be edited and run quickly.
    • Supports simple branching, subroutines and I/O handling.

    Exam tip

    Mention: VAL = Unimation, textual robot-level language, then give the structure table and a 8-line example.

  24. Q7(b). Describe the basic commands and programming structure of VAL-II.20267m

    Module 3: Robot Languages-VAL I & II

    Describe the basic commands and programming structure of VAL-II.

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    Worked Solution

    VAL-II: Basic Commands and Programming Structure

    VAL-II is the enhanced version of VAL (Unimation/Staubli). It added real-time sensor integration, vision interface, arrays, subroutines and better program control, while keeping VAL's simple syntax.

    Basic commands

    Category Commands
    Motion MOVE, MOVES (straight line), APPRO, DEPART, DRIVE
    Location definition HERE, SET, POINT, SETI
    Gripper OPEN, CLOSE, OPENI, CLOSEI
    Speed / accuracy SPEED, ACCEL, ACCURACY
    Program control IF ... THEN, GOTO, CALL, RETURN, FOR, WHILE, PAUSE, STOP
    I/O SIGNAL, WAIT, SIG()
    Timing DELAY

    Program structure

    MermaidDiagram
    Rendering diagram…

    Example

    .PROGRAM stack()
  SPEED 40
  FOR i = 1 TO 3
    APPRO pick, 50
    MOVES pick
    CLOSE
    DEPART 50
    CALL place(i)
  END
.END

    Improvements over VAL

    • Structured control (FOR, WHILE, IF-THEN-ELSE).
    • Subroutines with CALL.
    • Multitasking and sensor-based control.

    Exam tip

    Write command table by category and one example program with a loop and a subroutine call.

  25. Q8(a). Explain the basic structure of RAPID programming.20267m

    Module 4: Robot Languages-RAPID & AML

    Explain the basic structure of RAPID programming.

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    Worked Solution

    Basic Structure of RAPID Programming

    RAPID is the high-level programming language of ABB industrial robots. It is a structured language with data types, routines, motion instructions and error handling.

    Program hierarchy

    MermaidDiagram
    Rendering diagram…
    Element Meaning
    Module Container of data and routines (MODULE ... ENDMODULE)
    PROC Routine that performs actions
    FUNC Routine that returns a value
    TRAP Interrupt handling routine
    Data num, bool, string, robtarget, speeddata, zonedata, tooldata

    Main motion instructions

    • MoveJ joint move, MoveL linear move, MoveC circular move.
    • Gripper/IO: SetDO, WaitDI, Set, Reset.
    • Control: IF, FOR, WHILE, TEST, ProcCall, WaitTime.

    Example

    MODULE Main
  CONST robtarget pPick := [[500,0,300],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
  PROC main()
    MoveJ pPick, v1000, z50, tool0;
    MoveL Offs(pPick,0,0,-100), v200, fine, tool0;
    SetDO doGrip, 1;
    MoveL pPick, v200, fine, tool0;
  ENDPROC
ENDMODULE

    Exam tip

    Explain module, PROC main, motion instruction format MoveL target, speed, zone, tool and give the short example.

  26. Q8(b). Explain the concept of Soft Robotics.20267m

    Module 6: Soft Robotics

    Explain the concept of Soft Robotics.

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    Soft Robotics

    Soft robotics is the field of building robots from compliant, deformable materials (silicone, elastomers, hydrogels, fabrics) that bend, stretch and change shape, similar to biological organisms such as octopus arms or elephant trunks.

    Rigid vs soft robots

    Point Rigid robot Soft robot
    Material Metal, hard plastic Silicone, elastomer, fabric
    Degrees of freedom Limited, joint based Very high (continuum)
    Safety near humans Needs guarding Inherently safe
    Grasping Needs precise planning Conforms to object shape
    Control Well-established Difficult, non-linear

    Actuation methods

    MermaidDiagram
    Rendering diagram…

    Applications

    • Soft grippers for fruit, food and fragile objects.
    • Wearable exosuits and rehabilitation gloves.
    • Minimally invasive surgery and catheters.
    • Search and rescue in confined spaces.

    Advantages and challenges

    • Advantages: safe, adaptable, light, low cost, simple grasping.
    • Challenges: modelling and control, limited force and precision, durability, embedded sensing.

    Exam tip

    Define, give the rigid vs soft table, list actuation types and 3 applications.

  27. Q9(a). Write a short note on: Soft Robotics20267m

    Module 6: Soft Robotics

    Write a short note on: Soft Robotics

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    Short Note: Soft Robotics

    Soft robotics builds robots from flexible, compliant materials (silicone, elastomers, fabrics) that deform continuously, like an octopus arm.

    • Actuation: pneumatic/fluidic chambers, tendons, shape memory alloys, electroactive polymers.
    • Advantages: inherently safe around humans, conforms to object shape, simple gripping, low cost.
    • Applications: soft grippers for fragile items, rehabilitation gloves, surgical tools, search and rescue.
    • Challenges: hard to model and control, lower force and precision, limited durability.

    Exam tip

    4 to 5 crisp points with 2 applications are enough for a short note.

  28. Q9(b). Write a short note on: Computer Vision in Robotics20267m

    Module 6: Soft Robotics

    Write a short note on: Computer Vision in Robotics

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    Short Note: Computer Vision in Robotics

    Computer vision lets a robot understand its environment from camera images, so it can locate, identify and inspect objects.

    MermaidDiagram
    Rendering diagram…
    • Sensors: 2D cameras, stereo cameras, depth (RGB-D), LiDAR.
    • Tasks: object detection, pose estimation for pick and place, visual servoing, inspection, navigation and SLAM.
    • Tools: OpenCV, cv_bridge and image_transport in ROS.
    • Applications: bin picking, quality inspection, autonomous vehicles, surgical guidance.

    Exam tip

    Draw the 5-block pipeline and list 3 applications.

  29. Q9(c). Write a short note on: AML programming20267m

    Module 4: Robot Languages-RAPID & AML

    Write a short note on: AML programming

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    Worked Solution

    Short Note: AML Programming

    AML (A Manufacturing Language) was developed by IBM for its industrial robots (e.g. IBM 7565). It is a high-level, structured, robot-level language with a syntax close to a conventional programming language.

    • Supports subroutines, variables, arrays, control structures and string handling.
    • Provides motion commands such as MOVE, with joints and positions specified in arrays.
    • Includes I/O, sensor and vision interfacing for assembly tasks.
    • Allows users to build their own higher-level robot commands, so it is extensible.
    SUBR(PICK);
  MOVE(<1,2,3>, <100,50,20>);
  GRASP(10);
END;

    Exam tip

    Write: AML = IBM, structured, subroutine based, supports sensors; add one short example.

  30. Q9(d). Write a short note on: VAL-I/VAL-II commands20267m

    Module 3: Robot Languages-VAL I & II

    Write a short note on: VAL-I/VAL-II commands

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    Worked Solution

    Short Note: VAL-I / VAL-II Commands

    VAL-I is the original Unimation language; VAL-II is its enhanced version with structured control, subroutines and sensor support.

    Category VAL-I VAL-II additions
    Motion MOVE, MOVES, APPRO, DEPART DRIVE, ACCEL, ACCURACY
    Position HERE, SETP, POINT SET, SETI, arrays of locations
    Gripper OPEN, CLOSE OPENI, CLOSEI
    Speed SPEED Real-time speed change
    Control IF, GOTO, PAUSE FOR, WHILE, CALL, RETURN
    I/O SIGNAL, WAIT SIG(), interrupts, vision 
    SPEED 50
APPRO part, 50
MOVES part
CLOSE
DEPART 50

    Exam tip

    A 4-row command table plus a 5-line example is sufficient.

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