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Assignment3 - Robot Programming - 8april2020

This document contains instructions for a robotics tutorial on robot programming that involves using a robotic vision system and camera to help a robot pick parts from a conveyor belt and arrange them on a table for packaging. It defines the setup with a robot 1m from a 1m x 1m table holding a 20cm cube, and a camera 2m above, and tasks the reader to define coordinate systems for each, determine the homogeneous transformation matrices relating them, and write the robot program for this task.

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Raj Kumar
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24 views

Assignment3 - Robot Programming - 8april2020

This document contains instructions for a robotics tutorial on robot programming that involves using a robotic vision system and camera to help a robot pick parts from a conveyor belt and arrange them on a table for packaging. It defines the setup with a robot 1m from a 1m x 1m table holding a 20cm cube, and a camera 2m above, and tasks the reader to define coordinate systems for each, determine the homogeneous transformation matrices relating them, and write the robot program for this task.

Uploaded by

Raj Kumar
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Thiagarajar College of Engineering, Madurai – 625015

Department of Mechanical Engineering


14MEPE0 – Robotics
Tutorial on Robot Programming (08.04.2020)

• A robotic vision system is used to aid the robot to pick parts from a conveyor belt and
arranging it on table for packaging. Parts are only of one type and are placed randomly
on the conveyor. The robot set up is 1 meter from a table as in Figure 1. The table top
is 1 meter high and 1 meter square. A frame O1 X1Y1Z1 is fixed to the edge of the table
as shown. A cube measuring 20cm on a side is placed on the one of the corners of the
table with frame O2 X 2Y2 Z 2 established at the center of the cube. A camera is situated
directly above the center of the block 2m above the table top with frame O3 X 3Y3 Z 3
attached as shown. State assumptions if any.
a. Define coordinates for camera, robot, table and object using right handed
coordinate system.
b. Determine the appropriate homogenous transformation matrices to establish
relations between each other.
c. Write the VAL-II Robot Programming for this task

Figure 1

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