Monash University Malaysia School of Engineering TRC4800 Robotics -1- Experiment 1: Introduction to basic movements of robot manipulators, coordinate system and programming Objectives Identify movements of the robots Familiarise various functional keys of Teach pendent for robot operations Identify and distinguish between different coordinate systems Familiarise the work envelope of each joint of the robot Study gripper operations Create the robot programs that utilizes gripper commands though I/Os. Procedures: REFER RECORDED VIDEO via MOODLE 1. Power up the controller and wait until boot up sequence is completed. Identify the axes of the robot. 2. Now, move the robot in the four various coordinate systems. Note the movement style of each of the coordinate system. 3. Identify the limits of each axis by moving each axis from one limit to another. CAUTION: Make sure the other limbs do not hit any object. Move only at very low speed. 4. Move axis 6 parallel to axis 4 in joint coordinate system. After that, use the world coordinate system to move the arm in any X, Y or Z direction. What happens? (Refer topics to singularities, week 6 lectures) CAUTION: Move only at very low speed. Beware of arm movement – keep clear. Monash University Malaysia School of Engineering TRC4800 Robotics -2- Gripper Operation 1. Power up the robot. Examine the lower left hand side of the GUI when it has finished loading. With the deadman switch held down, press the softkey next to the image of the gripper. What happened? 2. With the gripper still active, manually place a wooden block on the suction cup. What happened? Press the lower left softkey again with the deadman switch enabled. What happens now? 3. The gripper is actually controlled by the robot using digital output number 6. Now select the following from the GUI menu: Monitor – I/O – Overview Outputs 4. You should now see a new window on the right side of the GUI. Now, select output number 6, hold down the enabling switch, and press the softkey ‘change’ at the bottom of the GUI. Did the gripper activate? 5. Create a simple motion program consisting of PTP movements. In between your PTP commands, insert a command by selecting from the menu: Commands – Logic – Out – Out. 6. Select output number 6 and make sure the ‘CONT’ (continue) command is not enabled. Set the command to ‘TRUE’. Run the program. 7. Your robot should now move according to your motions. When the program run reaches the Output command, the gripper will activate. 8. Question: How do we turn off the gripper from the program? Creation of programs 1. Place a wooden block on one of the square outlines on the table. Now, create a simple program to lift the block from the table and put it on another square outline. 2. For best results, create several intermediate points on the motion paths. 3. Reminder: before running the program, test it first by NOT using the wooden block initially, and by reducing all speeds to 10%. This way, you will be able to see if your programmed motion crashes into any obstacles. 4. Once you have ensured that there is no collision, run the program normally with the wooden block. 5. You may create other possible pick and placing motions with the wooden blocks. Always ensure that your motion does not collide with the robot’s environment before executing it. Monash University Malaysia School of Engineering TRC4800 Robotics -3- Questions Use lab Introduction and lab experiment-1 recorded video which are available in Moodle and prepare the report using the following questions. a) Describe the advantages and uses for each of the four coordinate systems. b) Why is envelope study critical for design of robotic cell? What is the maximum and minimum reach for this robot (measured from the centre of the robot base)? c) Explain the Alpha-5 problem in 6-axis articulated arm robots and its potential hazards. How do we avoid this problem? d) Sketch the work envelope of each joint axis of the robots. e) Write a report which reflect the objectives that needs to include diagrams/ sketches and followings • Procedures of robot operations • Answer the questions as indicated in steps • Include the program with explanations. • Conclusion. Page limit of the report: maximum 5 which includes cover page. Due date for submission: Refer Week 7 Engine Room.
