My Industrial Robotics Labs

Here are the hands-on labs completed during the industrial robotics course of CEGEP de Victoriaville.

My background

At the moment of this writing, I'm a Software Technology Manager at Cogiscan with a strong background in software development, and computer engineering in general.

Labs

Labs #1, #4, and #5 were simulations using RobotStudio from ABB.

Labs #2, #3, #6, #7, #8, and final exam were developed using the IRB 140 6-axis industrial robot (external link).

Most labs were created from scratch, and had to be completed during a 3-hour window.

Lab	Name	Simulation	ABB IRB 140	Media	Learnings
1	stencil	✓		screenshot	positioning instructions (`MoveJ`, `MoveL`, `MoveC`)
2	tracing		✓	picture	FlexPendant usage, coordinate systems, jogging, singularity
3	weight		✓		calibration, fork tool, work objects
4	leapfrog	✓		screenshot	offset instruction (`Offs`), procedures and functions
5	the wall	✓		screenshot	gripper tool, FlexPendant display, `Clock` type
6	commissioning the IRC5		✓	video	system creation, I/O configuration, joints limitation
7	I/O		✓		DeviceNet, I/O usage in RAPID
8	zones and interrupts		✓		world zones, limits, interrupts
-	final exam		✓	picture	-

Coding convention

No official coding convention was enforced by the instructor. Programs had to be turned-in with French identifiers where possible, and usage of global variables was encouraged for simplicity purposes.

Programs of this repository were converted to English before publication. Some errors might have creeped in during the translation process.

The following sections list the personal convention that I adhered to for most of the labs.

Routines

Routine	Identifier prefix	Example
function	`f`	`FUNC num fComputeSomething(...)`
procedure	`p`	`PROC pDoSomething(...)`
trap	`t`	`TRAP tSomethingHappened`

Constants and variables