Project3_JoseZapataB00092132

8/17/2019 Project3_JoseZapataB00092132

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Bachelor of Engineering (Honours) in

Mechatronics

Industrial Robotics & Vision Inspection

Title: Digital Iage !orats and "rocessing

#ae & ID: $ose %apata #eto B'*

Date: +,+,-


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Introduction:

A robot can be a very cost effective way to achieve some automation tasks. The

figure of a robot as an expansive luxury is far from reality, when the cost of a robot is

computed over is expected lifetime around 6 or 7 years in general, it can provide results

with cost around €, 6!"hr to buy and operate. #$

%&' stands for %odular &roduction 'ystem. They are design to provide to set the

right challenge and appropriate learning environments. The 'tation can provide various

re(uirements, such as) #*$

+ifferentiated functions

-ndividual and combined units

+ifferent drive technologies

%aterial and information flow

%odern and variable control concepts.

The %&' obot 'tation used in the current work, contains the following

components) #/$

%itsubishi obot 01*A2

3ripper %odule

%aga4ine %odule

'lide %odule

Assembly etainer %odule.

The %itsubishi obot 01*A2 is a 5oint articulated robot with five revolute

5oints, providing ! degrees of freedom. igure one bring some specifications about the

obot 01*A2 arm and multitasking operation system. #/$

Figure 1: Robot RV-2AJ arms and multitasking operation system. [3]

+eveloped by %itsubishi, the %elfa asic -0 is a robot programming language

bended to be very close upon the programming language 8asic9. The number of

function in both languages is similar. #/$

:-;'< obotics was conceived to learn how to program and commission

industrial robot systems. The program can offer a comprehensive library with more than*= predefined robot work cells which enables to go directly to commissioning and


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programming robot applications. The 3raphic animations helps to understand the

technical terms and facts, videos and a large number of industrial applications involving

robots, sample for every robot work cell, technical documentation including instructions

on processing. #/$

:-;'< obotics also provides /+ real1time simulations with features of :-;'<'tudio and a programming environment for -ndustrial obot >anguage programming

languages %ovemaster :ommand and %elfa basic -0 for %itsubishi robot systems. #/$

#?$

:-;'< obotics provides a virtual learning environment in the field of robotics.

'tep by step, the user will be able to advance independently from very simple robotics

applications right through to highly complex work cells in a highly realistic, simulated

/+ work environment. The virtual learning environment consists of) #?$#!$

&rogramming and simulation environment for predefined robotic work cells that

represent typical industrial applications The obotics Assistant online tutorial offering comprehensive robotics

knowledge via multimedia presentations.

The obotics Assistant is not a :T @computer based training, but rather a

multimedia information system that provides teachers with support in designing courses

of study, and that can be used by trainees for autodidactic learning. #!$

Tas. / "ic. and "lace

The current exercise asks to perform a pick and place application between ! points

described in the figure *. asically the obot arms must)

Transport a workpiece via ! positions @&, &*, &/, &?,&BB

Take the workpiece from position & with the gripper and move to a upper

&osition &* @which is !=mm directly above &

Then move to position &/ @above &?

Cext move down to position &? and release workpiece with gripper

%ove to position &/, then position &BB and back to position &*.

Figure 2. !er"ise 1 points.


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The points described in the figure * can be seen in table .

Table ) &oints coordinates.

"oint 0 1 % Rot % Rot 1

" */D ?! B= 1!* D=

" */D ?! *?= 1!* D="* 6! *== //7 1B= D=

"+ 6! *== /*7 1B= D=

"'' D= /= /7= /7= D=

The code for the program can be seen below.

10 mov p2 '|program start from the position P99 to P220 mvs p1 '|after moves o position 130 hclose 1 '|open the grab device40 dly 1 '|wait for 1 second

50 mvs p2 '|comes bac to P2!0 mov p3 '|moves forward to P3

"0 mvs p4 '|come to position p4#0 hopen 1 '|open the grab device

90 dly 1 '|waits one second100 mov p3 '|come bac to P3

110 mov p99 '|comes to end position120 end

Tas. / 2peed 3ontrol

To add speed control to Task is possible by means of the command)

• '&+) This instruction declares the speed of the robot on linear and arc

movement. The maximum speed is ==== units, and changes the speed on the

%0' command. As is desirable *=E of maximum speed the unit used will be

*===.

• 2;0+) designates the override that is valid only during robotFs 5oint

movements. The value must be given between = and ==, when == is the

maximum. The value represents percentage of maximum speed.

ecause of an incident in the computer, the file was lost, but the changes can be seen on

exercise ?

E4ercise *

To define / teachable points &, &? and &? is re(uired to define the points &*

and &/ as != mm above & and &? respectively. To do that was use the command)

%;0 &, 1!= what actually represents &* of != mm above &

The second way is a wee bit more complicated involving vectors. irst, define

two vectors, one for the point and one for the value is re(uired to change or correction

vector.

+G &;' 0G:H* Icorrection 41axis != mm


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+G &;' AJK&;' IL&osition

To define the correction vector)

0G:H* M @N=.==,N=.==,N!=,N=.==,N=.== IL!= mm above any point

The point is calculated by the sum, then is possible to use the %;0 command.

AJK&;' M & N 0G:H* ILAJK&;' is != mm up from &

%0' AJK&;' ILcomes back to &*

As on exercise *, the version as lost, but is possible to see in Gxercise ?.

The benefits in real 5ord relies in the fact that the program have less points to

define what make his life easier once that is much simple to do that on code compared

to manually move the robotic hand to the desirable point and save the value.

E4ercise +

To add punctuality to the program is possible to use the sensor on it D, and then

execute the routine in Gxercise /.

or that will be used the following structure)

The code can be seen above)10 $%& P( )%*+2 '|correction ,-a.is 50 mm

Main loop

gosub *wpart

Part available?

No

Yes

Execute the code

on Exercise 3


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20 $%& / P) /6# '|bit who defines if the piece is available30 $%& P( 78P( '|Position

40 (P$ 2000 '|the ma.imm speed is 10000 so 2000 is 20: of ma. speed '|of mvs command

50 ;)$ 100'| ma.imm speed for the mov command

!0 )%*+2 006=0>006=506=0>006=0>00? '|50 mm above any point v'|when sms

"0 @A/BCP '|Aainloop#0 D(7 @EP '| sbrotine to verifies if a part is available

90 D @A/BCP '| stay in loop100 %B$

110 @EP '|)erifies if the worpiece is available

120 /& P) 1 F%B D(7 @7A/B '|if a piece is available a'|sbrotine is called

130 %7B

140 @7A/B

150 A) p16-50 '|program start from the position P99 to P21!0 spd 2000 ' the ma.imm speed is 10000 so 2000 is 20: of ma. '|

speed of mvs command1"0 A)( p1 '|after moves o position 11#0 F*C(% 1 '|open the grab device190 $CG 1 '|wait for 1 second200 78P( P1 = )%*+2 '|78P( is 50 mm p from P1210 A)( 78P( '|comes bac to P2220 Hovrd 10 '|speed of 10: for the mov command when the robot is

'|holding the worpiece230 A) p46-50 '|moves forward to P3240 A)( p4 '|come to position p4250 FP%B 1 '|open the grab device2!0 $CG 1 '|waits one second2"0 A)( p46-50 '| movs to P32#0 Hovrd 100 '| ma.imm speed for the mov command290 A) p99 '|comes to end position300 %7B

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The current work provides to the student concepts of Mitsubishi Robot RV-2AJ

programmed with Ciros. n the beginning was not so straight forward to understand

how the Robot e!pects a communication from the programmer but with a wee bit of time

Ciros "rogramming shows that is not hard to understand the command and deve#op

programs with the software. The commands used in this report a##owed the student to

comprehend the functiona#it$ of the Robot hand% set points and move between then% at

the same time is possib#e to configure speed in the movement.

&efine a point in re#ation to another was imp#emented in two wa$s to do it% and

this sa#ve time of the programmer in the rea# wor#d. The functions make the program

more professiona# and organi'e and Ciros programming uses a ver$ usefu# programmed

#anguage to dea# with ob(ects and functions with goto that stands for a (ump and gosub

that stands for a ca## a subroutine.


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References :

[1] non! "#$1%&' [online] vailable at(

http())www#'it'lut')wi+i)lib)exe),etch'php)courses)ct-$a%#$$)rv.3sb/3s0b'pd, [ccessed 1$ pr' #$1%]'

[#] esto.didactic'co2' "#$1%&' MP4 5 6he 2odular production s7ste2(ro2 2odule to learning ,actor7 . MP4 6he Modular Production 7ste2 .

8earning 7ste2s . esto 9idactic' [online] vailable at( http())www',esto.didactic'co2)int.en)learning.s7ste2s)2ps.the.2odular.production.

s7ste2)2ps.the.2odular.production.s7ste2.,ro2.2odule.to.learning.

,actor7'ht2?,bid:aw-$l2vul0u1n7;xn7;xoc;1oduunell! N' "#$1%&' [online] vailable at(

http())2oodle'itb'ie)pluginle'php)1-1ABA)2od/resource)content)$)Cntroduction#$to#$Diros#$Progra22ing#$#$1%'pd, [ccessed 1$ pr' #$1%]'

[-] arras! F' "#$1%&' [online] vailable at(

http())2oodle'itb'ie)pluginle'php)A331G)2od/resource)content)$)DC@H/@o

botics/Manual'pd, [ccessed 1$ pr' #$1%]'

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Project3_JoseZapataB00092132