. You must turn in 1) one paragraph of description on how to define robot positions including the corresp

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Requirements You Must Turn In 1 One Paragraph Of Description On How To Define Robot Positions Including The Corresp 1 (197.76 KiB) Viewed 18 times

. <Requirements> You must turn in 1) one paragraph of description on how to define robot positions including the corresponding commands used, 2) one table containing defined robot points (positions) along the path robot moves, 3) robot program codes and comments via D2L. The submission should include a cover page. • (optional) Before submission, you can send your assignment file (containing the three items mentioned above) to TA for verification. . <Problem Description> Your are required to write a robot program for an assembly process. The assembly comprises of a bowling pin and a wax block with a hole of 0.85” diameter. The assembly process starts with retrieving the wax block from the storage bin and placed at the specified location on the table (tall stool). Next, the bowling pin is retrieved from the other storage bin and placed into the hole in the wax block. Finally, the robot will clear the “put" action (i.e. arm rise) and stop at Pos2. The example above will be of help while understanding the process. Bowling Pin Wax Block Robot Pos2 Robot Pos1 Robot Pos3 Tall Stool You need to define and record discrete points along the path of robotic arm movement during the assembly process described above. You will make use of the following commands for the program that you want to create when you work with a real system: defpa, defpb, here, moved, open, close. Since you don't have access to robot when you are doing the assignment, just make reasonable assumptions and define discrete points. . Since you assign numbers or alpha-numeric labels to points, the reader of your program will not understand what each point is defined for. The table will help, as a complementary document, the reader to have a better understanding of what exactly the robot program does. The table needs to be completed in MS Excel or MS Word, or other similar tool. Keep in mind that robot controller always picks shortest path between two points to move. Therefore to avoid collisions you need to define auxiliary points to build a suitable path for arm movement (vertical up, horizontal and vertical down).