Programming ABB Industrial Robot for Writing a Human Language Phongsavanh Sengaphone Masters student, Dept. of Mechanical Tianjin University of Technology and Education (TUTE), Tianjin, China Abstract- Using Robotics writes a human's language that is interesting by the researchers in the robotics field. This paper devoted to programming ABB Robot to write some characters Chinese language (机器人), and attach a special end effector instrument to the ABB Robot. The writing instrument had been designed and fabricated that become a tool (end effector). The tool that is helping ABB Robot can control the pen to write the letters is better. The RAPID program is uploaded as a backup system into the flex pendant of the robot and then simulated through the IRC5 controller. As a result, the project was able to simulate some Chinese characters, and then the character was written by the ABB Robot accurately. Key-word- ABB industrial Robot, Robot Studio, Writing Instrument, RAPID. I. INTRODUCTION A robot is a human invention that establishes for replaces human effort albeit it may not resemble a human. A robot is designed and controlled by a computer or some equipment that be similar to computers. The system of the robots that can be used together with the robots to operate the essential works. The movement of the robot is controlled by a controller that is under the jurisdiction of the computer that is running some type of program. Therefore if the program is changed, the actions of the robot will be changed accordingly. Thus the robot is designed to be able to operate any work that can be programmed (within its limit and work envelope) simply by changing the program [1]. The target of this project is programming industrial Robot to work instead of a human, in this case, was a programmed robot for writing. This programming will use with industrial Robot (ABB IRB 120) by using RobotStudio software and RAPID (GUI) programming language. The IRB 120 ABB has a flex pendant that uses to control itself and control module to upload the command. II. SYSTEM DESCRIPTION To show this project, this is a block diagram of the system is shown in Fig. 1. Fig. 1: System block diagram A. The SolidWorks Design Software The software is used in this project for the design of the end effector and the design of the alphabet letters that are SolidWorks Design software [2]. SolidWorks is a kind of software that can design a lot of solid models. Especially, that can create 3D solid models form graphical. B. RobotStudio Programming RobotStudio is a Graphical User Interface (GUI) software that uses configuration and offline programming of ABB robots with RAPID programming as the basic programming language. In the RobotStudio has a robot virtual technology that helps the User watch a robot work a RAPID program in the graphical environment, and can test the robot virtual that performs follow the paths and targets in programming are within the workspace of the robot manipulator or not [3]. After write programming, a virtual controller that is also in RobotStudio, and then all of the paths are synchronized before off-line simulate. RobotStudio has an offline simulation tool that can be used to watch the motions of the robot while during simulation. Everything errors in the simulation that will also conduct to an error in the interfacing [4]. Through this off-line simulation, the program that can modify before uploading them into the flex pendant (Teach Pendant unit). C. Flex pendant The flex pendant which is also referred to as the teach pendant unit, is a hand held operator unit used to perform many of the tasks involved during the operation of a robot system such as modifying the work object, jogging the robot manipulator, modifying RAPID programs and can also be used to create instructions using teach method and jogging [5]. International Journal of Engineering Research & Technology (IJERT) ISSN: 2278-0181 http://www.ijert.org IJERTV8IS030220 (This work is licensed under a Creative Commons Attribution 4.0 International License.) Published by : www.ijert.org Vol. 8 Issue 03, March-2019 442