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OBJECTIVE

1. Learn how to teach the robot2. Doing a pick and place operation by writing the program to robot3. Operate the robot in the AUTO mode4. To learn about the types of robot path control

THEORY

In this experiment we use a few basic commands to run the robot using the AUTO mode

1. MOVE statement -this command is used for the absolute position movement-MOVE P = Point to point movement-MOVE L = Linear movement

-MOVE C = Circular movement. In using the circular movement, we need to add one

more extra point between the two points that are selected

2. DELAY statement - command that we are use to delay the robot movement3. SPEED statement - using this command we can control the robot movement speed4. HALT statement - use for reset the robot stops the program from running5. GOSUB statement - make jump to subroutine

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FLOWCHART

START

Move by PTP to P560 at 20% velocity

Move by PTP to P563 at 20% velocity

Move by PTP to P562 at 20% velocity

Move by GOSUB to open the gripper

Move by PTP to P566 at 20% velocity

Move by PTP to P567 at 20% velocity

Move by PTP to P564 at 20% velocity

Move by GOSUB to close the gripper

Move by PTP to P565 at 20% velocity

Move by GOSUB to open the gripper

Move by PTP to P561 at 20% velocity

Move by PTP to P562 at 20% velocity

Move by GOSUB to close the gripper

Move by PTP to P566 at 20% velocity

Move by PTP to P564 at 20% velocity

STOP

Move by PTP to P560 at 20% velocity

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COORDINATES

Point M1 M2 M3 M4

560

561

562

563

564

565

566

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PROGRAMMING THE ROBOT

MOVE P, P560, S=20

WAIT ARM

MOVE P, P561, S=5WAIT ARMGOSUB*CLOSE

DELAY 1000

MOVE P, P560, S=20WAIT ARM

MOVE L, P562, S=20

WAIT ARM

MOVE P, P563, S=5WAIT ARM

GOSUB*OPEN

DELAY 1000GOSUB*CLOSE

DELAY 1000MOVE P, P562, S=20

WAIT ARMMOVE C, P566, P564, S=20

WAIT ARM

MOVE P, P565, S=5

WAIT ARMGOSUB*OPEN

DELAY 1000

MOVE P, P564, S=20WAIT ARM

HALT

*CLOSEDO(24)=1

RETURN

*OPEN

DO(24)=0

RETURN

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ANALYSIS

1 . 3 PATH CONTROL USED IN THIS ACTIVITY

POINT TO POINT

Point to point movement will move the robot according to the coordinates were stored in theteach pendant . This movement move in the shortest time . The robot arm will move from onepoint to other point in straight line or any necessary movement . All axes start and end

simultaneously .

LINEAR

Linear movement will move according to the coordinates but also moves the robot manipulator90 . Period of time longer than the robot's movement point to point movement . The robot arm

will move from one point to other point in linear path which is in straight only .

CIRCULAR

The movement of this circle moves in circles. Manipulator on the X axis, Y axis and the R axis

can move in a circle while the Z axis can not move in circles because the Z axis can movelinearly and point to point . The robot arm will move from point to another point in circular

motion .

2 . MOST PREFERRED PATH CONTROLPoint to point movement because this movement has moved according to the coordinates stored

in the teach pendant. In addition, this movement took a short period of time. It can lift the 'pallet'

quickly and can easier the next task .

3 . POSSIBLE TO USE DIFFERENT TYPES OF PATH CONTROL IN THE SAME

PROGRAM

It is possible to use different types of path control in the same program . First of all we must lookat the position of first point to identify the movement that we want to do . Point to point

movement will move with the axis of the robot manipulator . Linear movement will also move

with the robot manipulator axis but will move the axis 90 . It depends on the robot axis which is

then receive signal from the controller .

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CONCLUSION

In this experiment , we learnt that there is three type of path control . First is point-to-point

path, then linear path and lastly the circular path . We can set the robot to record the position of

point coordinate value after being in a position we want. Furthermore , we can combine the path

control in one program to make the process more effective and saving times . We can also builda programming to program the robot to move in auto mode based on the coordinates were stored

in the teach pendant . Then, the program can be simplified by dividing the program into sub

routine so the programmer does not need to repeat writing the same command again and again .Finally our experiment can be done according to the time given and the lab report is submitted

according to the time . Big thanks for the lecturer and the technician for the help and the

guidance to fulfill this experiment .