Table of Contents

1.0

OBJECTIVES.......................................................................................................................3

2.0

INTRODUCTION................................................................................................................3

3.0

APPARATUS........................................................................................................................6

4.0

PROCEDURE.......................................................................................................................6

5.0

RESULTS.............................................................................................................................7

6.0

DISCUSSION.....................................................................................................................11

7.0

CONCLUSION...................................................................................................................12

8.0

RECOMMENDATIONS....................................................................................................13

9.0

REFERENCES...................................................................................................................13

List of Figures and Tables

Figure 2.1: Scorbot-ER V Plus.
Figure 2.2: Controller-A

Table 2: The movement of robot

Figure 2.3: Robot arms links and Robot arm joints
Figure 2.4: Operating range (Top view)
Figure 2.5: Operating range (Side view)

Figure 3.1: Physical Layout of SCORBOT-ER V Plus

Figure 5.1 Move
Figure 5.2: Shoulder move downwards
Figure 5.3: Clamp open
Figure 5.4: Shoulder move upwards

Figure 5.5: Move to the right

Figure 5.6: Shoulder move downwards
Figure 5.7: Clamp open
Figure 5.8: The coding created to move the block from origin to next point
Figure 5.9: The response of each joint motor rotary and linearly
Figure 6.0: The response of each joint motor rotary and linearly

TITLE: ROBOT PROGRAMMING RACTICAL/DEMONSTRATION

1.0

OBJECTIVES
1. To develop a computer ATS programmer ad simulate the running operations of the above
case study.
2. To exposed student with the working principle of the Scorbot-ER V Plus.

2.0

INTRODUCTION
In this present days, robot has been widely used in various kind of areas depending on

their applications, as an example robotic arm has been implemented in manufacturing area which
is purposely to increase the productivity and enhance the quality of production. This kind of
robot specializes in repeatable doing and great accuracy. Hence, as a learning processes students
are exposed to robotic arm Scorbot-ER V Plus model. Scorbot-ER V Plus is a vertical articulated
robot that consists of 5 degrees of freedom with gripper end-effectors with two fingers.
Specifically, this model has its own stationary base, body, upper arm, forearm and gripper
(Figure 1).

Figure 2.1: Scorbot-ER V Plus.

The
robot

movement

is

specially interfaced

and

controlled

by Advanced

Control

Language

(ACL).Controller-A (Figure 2), a stand-alone, real-time, multi-tasking controller with PID and
PWM driver. The controllers internal programming language is interfaced with computer.
Hence, this robot is basically controlled by computer with Advanced Terminal software (ATS).

Figure 2.2: Controller-A

The movement of the robot arms as follow:

2: The

Axis No.
1
2
3
4
5

Joint Name
Base
Shoulder
Elbow
Wrist Pitch
Wrist Roll

Motion
Rotates the body one
Raises and lowers the upper arm
Raises and lowers the forearm
Raises and lowers the end effectors
Rotates the end effectors
movement of robot

Figure 2.3: Robot arms links and Robot arm joints

Table

Since this application robot arms is usually implemented in industry, hence the total workspace
of the robotic arm also needs to be considered. Figure 3 and 4 indicates the work range of the
robot arm.

Figure 2.4: Operating range (Top view)

Figure 2.5: Operating range (Side view)

3.0

APPARATUS
1.
2.
3.
4.
5.

Scorbot-ER V plus
ACL controller
Desktop PC with ATS software
Sample green cube
Makeshift platform

Figure 3.1: Physical Layout of SCORBOT-ER V Plus

4.0

PROCEDURE
1. Firstly, the manual of the robot was studied carefully during laboratory practical before
the experiment start.
2. The ATS programmed for Scorbot-ER V plus was developed for case study.
3. The ATS programmed was ran and tested.
4. The developed programmed being checked whether the programmed meets the
requirement of the case study to ensure this Scorbot-ER V plus can be functioning.
5. Programmed was confirmed first and let the programmed runs continuously to observe
either this Scorbot-ER V plus can perform efficiently.
6. Joint angles and the respective Cartesian positions for each position of the robot were
recorded in this experiment.

5.0

RESULTS

The results that gained from the physical orientation and also programming flow are
illustrated as a record of our test-run.
I.

PHYSICAL LAYOUT FLOW OF OPERATION

Figure 5.1 Move

Figure 5.6: Shoulder

move downwards

Figure 5.7: Clamp open

Figure 5.2: Shoulder

move downwards Figure 5.3: Clamp
open

Figure 5.5: Move to

the right

Figure 5.4: Shoulder

move upwards

II.

ATS PROGRAMME

Sample coding
defp LIA0;
here LIA0;

defp LIA1;
here LIA1;

defp LIA2;
here LIA2;

defp LIA3;
here LIA3;

defp LIA4;
here LIA4;

defp LIA5;
here LIA5;

defp LIA6;
here LIA6;

defp LIA7;
here LIA7;

PROGRAM LIA
******

******************

2722: MOVED

LIA0

2723: MOVED

LIA1

2724: OPEN
2725: MOVED

LIA2

2726: CLOSE
2727: MOVED

LIA3

2728: MOVED

LIA4

2729: MOVED

LIA5

2730: MOVED

LIA6

2731: OPEN
2732: MOVED

LIA7

2733: CLOSE
2734: MOVED
2735: END
<END>

LIA0

Figure 5.8: The coding created to move the block from

origin to next point

Figure 5.9: The response of each joint motor rotary and

linearly

Figure 6.0: The response of each joint motor rotary and

linearly

6.0

DISCUSSION

For purpose of industrial application, this robot should be able to be manipulated

depending on the objectives and task given. Hence, this robot enable user to manipulate at the
gripper whereby the gripper can be varied into any kinds of tools such as spot welding tool,
soldering tool for mini operation and many more. Besides that, the program also should be varied
whereby it does not limited at same program with same operation, but it can be manipulated into
specific task and more flexible. Based on layout configuration, instead of having fixed vertically
on ground, the robot can also be placed on the wall and also laterally on the ceilings to save
space or to give ways for moving mechanism such as conveyor operation. Moreover, in industry
areas, it is guaranteed that the platform of base robot is mobile and able to move forward or
backward. This added its own functionality and able to serve a wide variety of tasks.
6.1

Robotic layout
Based on the overall layout of the Scorbot-ER V Plus model, we had determined that

lower part of the robot which is the base rotates at its own fixed plane. While the shoulder are
connected to the base through a joint that rotates at vertical plane and the elbow are connected to
the shoulder through joint which rotates at vertical plane. The wrist is then acts as a portion
connected to the elbow which produced two degrees of freedom. The wrist movement is
subdivided into two parts, wrist roll and wrists pitch. The wrist roll mechanism is similar to our
palm so that it either face-up or down. Meanwhile the wrist pitch may bend-up or down as a
human would so. The gripper is the end effectors connected to the wrist which capable to open
and close. This function is similar to the human being using its index finger and thumb to grasp
an object.
6.2

Program developed
During the session of experiment, the program has been completely developed by us with

consult by technician. The objectives have been achieved; to develop a computer ATS
programmer and simulating the running operation from one position to another position. Based
on the results, the program consists of 7 codes as listed to move a green solid object from one

position to another position. Even this program is simple and easy, however in industry areas
their trying to achieve as minimum of code and movement as possible to reduce time and cost.
However, this simple program and simulation has exposed us to conduct a robot efficiently and
able to create program as desired.

6.3

Joints angle and Cartesian position

During the simulating of the robot, we had observed that the joint and position of the

robot possess joint angle only. This is due to the every joint of robot exhibit rotation or angle
displacement. From our theory, it is better to implement angle joint than cartesian position. This
is due to cartesian position needs the exact point to move from one another, Meanwhile angle
joint required some angle measurement to move from one point to another. It is complicated and
troublesome to determine the exact point needed for the robot to move instead of knowing the
angle and the position of the robot movement.

7.0

CONCLUSION

Based on the robotics programming and simulation for the robotic arms, we can conclude that it
is important to expose the student with the robot application using mostly in manufacturing
industries. After completing the robotic lab demonstration, we were experiencing the basic
robotics coding and instruction based on our creativity. Then, we demonstrate the operation of
the robotic arm from the developed ATS programme up until the execution of the transfer
process of the green cube from one platform to another platform. We managed to reach the
objectives of this project by the given case study. So we can conclude that this robotic lab
demonstration giving the student knowledge more about the robot programming and its
application in manufacturing activities.

8.0

RECOMMENDATIONS

1. Since the Scorbot-ER V Plus area in Mechatronic Lab contains different kinds of
applications such as conveyer system, rod stack rack and switches system. It is
recommend that these application areas also been exposed and experimented by students
instead of pick and place.
2. For improvement, it is suggested that the robot arm may add a linear motor at the base
whereby the robotic arm base can move x and y axis instead operates at a fixed position.
3. Besides that, case study should be more to ensure the student explore and able to operate
the robot effectively. This can be included with case study of previous final year project
since the technology can be used for exploration and might be further improve by
students.

9.0

REFERENCES
1. http://www.gcet.ac.in/department/MC/labs/more/RoboticsLAB.pdf
2. Lab sheet Scorbot-ER V Plus, Mechatronic lab level 4.
3. http://www.intelitekdownloads.com/Manuals/Robots/ER_V_plus_manual_100016.pdf