Im not sure how this is suppose to be done and the solution isnt making sense to

Question

Im not sure how this is suppose to be done and the solution isnt making sense to me. Can someone please explain. Im not sure what order the program 1 is supposed to be read in. Please help, thank you.

A simple Leadthrough Programming Commands: MOVE: commands robot to move to a previously taught and defined point DEFINE: Defines a point, or a line SIGNAL line number: Instructs the controlled to send an OUTPUT signal through a power line; defined by the specified number, WAIT line umber, Indicates that the robot should wait at its current position until a signal is received on the line; defined by the specified number. DELAY x sec. Indicates that the robot should wait x seconds before proceeding to next step in the program BRANCH name: Used when the robot has to perform more than one task, so a separate branch can be used for each individual task. 4/21/2017 Robot Systems and Programming Example 1 Programming strategy: Define two The robot is to be programmed to pick Branches one BRING part from A to B up a part from point A and move it to and one to BACK part from B to A point B, followed by a move to a neutral position. Point A and Bare to Define lines be defined by the programmer within DEFINE line 5 close gripper the robot's work volume. Then the DEFINE line 6 open gripper robot should pick up the part at point B and move it back to point A, followed DEFINE point A by a move to the previous neutral DEFINE point B position. The robot can be operated DEFINE point C continuously in the "run' mode to repeat the motion pattern over and over DEFINE point AA DEFINE point BB Solution DEFINE point C Draw a layout to the work space Points AA and BB are points above point A and B, receptively

Explanation / Answer

In this program A,B and C are on the straight line.

AA is the point above A and BB is the point above B.

I am writing in the brackets what each instruction does.

1.Definition of BRING function:

BRANCH BRING (This as stated in the description is the branch from the main program. It is just like a function call. The name of the function is BRING. This function move the object from A to B.)

MOVE AA (This statement asks the robot to move to the point AA.)

MOVE A (This statement asks the robot to move to the point A.)

SIGNAL 5 :Close gripper (This is the signal given to the robot to close the gripper so as to pick the object at the point A.)

DELAY 0.5 (This delay is given probably to complete the function of previous line i.e. close gripper)

MOVE AA (This statement asks the robot to move to the point AA.)

MOVE BB (This statement asks the robot to move to the point BB.)

MOVE B (This statement asks the robot to move to the point B.)

SIGNAL 6 :Open gripper (This is the signal given to the robot to open the gripper so as to drop the object at the point B.)

MOVE BB (This statement asks the robot to move to the point BB.)

MOVE C (This statement asks the robot to move to the point C. This point is the neutral location.)

END BRING (This marks the end of the function call.)

2.Definition of BACK function:

BRANCH BACK (This is also a function. The name of the function is BACK. This function asks the robot to bring back the object from B to A.)

MOVE BB (This statement asks the robot to move to the point BB.)

MOVE B (This statement asks the robot to move to the point B.)

SIGNAL 5 (This signal is to grab the object.)

DELAY 0.5 (Delay to pick the object.)

MOVE AA (This statement asks the robot to move to the point AA.)

MOVE A (This statement asks the robot to move to the point A.)

SIGNAL 6 (This signal is to drop the object.)

MOVE AA (This statement asks the robot to move to the point AA.)

MOVE C (This statement asks the robot to move to the neutral point C.)

END BACK (End of the function call.)

3.Main program:

MAIN PROGRAM (Main Program starts here.)

DEFINE ALL VARIABLES (Here all the variable are being defined.)

SIGNAL 6 (Open gripper signal to the robot so that gripper should be open at the time of picking of the object.)

M BRING (Here BRING is being called. M is the label which is used to bring back the control of the program from the end to this point.)

BACK (Here BACK is being called.)

GO TO M (Control is passed to the statement labeled M.)

4.Define lines:

DEFINE line 5 : close gripper (Signal number 5 to close the gripper.)

DEFINE line 6 : Open gripper (Signal number 6 to open the gripper.)

DEFINE point A (Defining the point A on the line.)

DEFINE point B (Defining the point B on the line.)

DEFINE point C (Defining the point C on the line.)

DEFINE point AA (Defining the point AA which is above point A.)

DEFINE point BB (Defining the point BB which is above point B.)

DEFINE point C (Defining the point C on the line.)

Related Questions

Navigate

• Browse (All)
• Browse I
• Subjects

---