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Program

Robotics

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4 views

Program

Robotics

Uploaded by

sy3dnum4n
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Example Program:

1. How to apply the VAL commands in a real-world context, involving problem-solving,


optimization, and decision-making within a robot’s operational environment.
Answer: As given in notes
2. List and explain how you would apply AL and AML commands to program a robot for an assembly
process involving precise movements, force control, synchronization, and error handling.
Definition AL statement AML statement
frame<x,y,z>, EULLER ROT(<ROTx,
Definition of base frame FRAME(ROT(Z,Angle), VECTOR(x,y,z))
ROTy,ROTz)
Definition of feature base * TRANS(ROT(x, angle), DOT(base, <<x,y,z>, EULLER
frame vector(x,y,z); ROT(<ROTx, ROTy,ROTz)>);
Definition of motion MOVE (<joint i, joint j>, <distance,
MOVE b arm to frame A;
statement angle>);
Sensing control
OPEN b hand to distance; MOVE(gripper, distance);
statement
WITH FORCE(Z) = force Z
Fmons=MONITOR(<SLP,SRP>,X,O,R);
Force sensing and WITH FORCE(X) = force X
compliance statement WITH FORCE(Y) = force Y
SLP and SRP are force sensors
WITH DURATION = time in sec

3. How would you analyze the two-axis robot’s capabilities to efficiently unload the press in this
specific workcell layout?

4. How would you analyze the two-axis robot’s capabilities to efficiently unload the press in this
specific workcell layout using time delay commands?

Step Move or signal Comments


0 1,1 Start at home position
1 8,1 Move to wait position
2 WAIT 11 Wait for press to open
3 8,8 Move to pick point
4 SIGNAL 5 Signal gripper to close
5 DELAY 1 SEC Wait for gripper to close
6 8,1 Move to safe position
7 SIGNAL 4 Signal press that hand is clear
8 1,1 Move around press column
9 1,8 Move to tote pan
10 SIGNAL 6 Signal hand to open
11 DELAY 1 SEC Wait for gripper to open
12 1,1 Move to home position

5. How would you apply the vision system and the robot’s force-sensing wrist to accurately
position and assemble the workpieces in the automated workcell?

1. Conveyor Start & Detection: The conveyor starts, and the system stops once a bracket is detected
by the vision system.
2. Vision System Inspection: The vision system checks the bracket’s position, orientation, and quality
(e.g., defects like incorrect holes).
3. Robot Grasping: The robot uses the vision system data to grasp the bracket with a specified force. If
grasping fails, the vision system repeats the task.
4. Placement on Work Surface: The bracket is placed in a fixture on the work surface. The conveyor
resumes for the next bracket, and steps 1 and 2 can run in parallel.
5. Pin Insertion: A pin is picked from the feeder and inserted partway into the bracket using force
control. If the feeder is empty, the operator is notified.
6. Bracket-Pin Placement: The robot places the bracket-pin assembly into a press for further
processing.
7. Press Actuation: The press presses the pin fully into the bracket. Upon completion, the press signals
the robot.
8. Force Sensing for Quality Check: The robot checks the pin insertion quality by sensing the reaction
force and measuring the pin's protrusion.
9. Final Assembly Handling: If the assembly is good, it is placed on a pallet. If the pallet is full, the
operator is alerted. If the assembly is bad, it is discarded.
10. Parallel Process Continuation: After completing Step 2, the system resumes Step 3, repeating the
process for subsequent parts.

6. Analyze how the specific arrangement of 4 rows, spaced 50 mm apart, and 6 columns, spaced
40 mm apart, impacts the efficiency and accuracy of the robot's part placement when
transferring parts from the incoming chute to the pallet, the plan of the pallet is assume to be
parallel to X Y plane. The rows of the pallet are parallel to x-axis and the columns of the pallet
are parallel to y-axis.

Answer: notes problem

7. Analyze how the specific arrangement of 4 rows, spaced 60 mm apart, and 6 columns, spaced
50 mm apart, impacts the efficiency and accuracy of the robot's part placement when
transferring parts from the incoming chute to the pallet, the plan of the pallet is assume to be
parallel to X Y plane. The rows of the pallet are parallel to x-axis and the columns of the pallet
are parallel to y-axis.

Answer: notes problem but data changed

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