Page 470 - Sensors and Control Systems in Manufacturing

Sensors in Flexible Manufacturing Systems
they frequently require high ratios causing backlash to be a 423
problem. In such cases, the harmonic drive is often used.
• Compliance. This is a measure of the amount in angle or dis-
tance that a robot axis will move when a force is applied to it.
Because of compliance when a robot goes to a position carry-
ing it’s maximum payload, it will be at a position slightly
lower than when it is carrying no payload. Compliance can
also be responsible for overshoot when carrying high pay-
loads, in which case acceleration would need to be reduced.
8.14.2 Robot Programming and Interfaces

• Main article–robotics suite. The setup or programming of
motions and sequences for an industrial robot is typically
taught by linking the robot controller to a laptop, desktop
computer, or (internal or Internet) network, Fig. 8.38.
• Software. The computer is installed with corresponding
interface software. The use of a computer greatly simplifies
the programming process. Specialized robot software is run
either in the robot controller or in the computer or both
depending on the system design.
• Teach pendant. Robots can also be taught via a teach pen-
dant, Fig. 8.39; a handheld control and programming unit.

FIGURE 8.38
Offl ine
programming by
ROBCAD.

FIGURE 8.39
A typical well-used
teach pendant with
optional mouse.