FACULTY OF ENGINEERING AND BUILT ENVIRONMENT

DEPARTMENT OF MECHANICAL AND MATERIALS ENGINEERING

YEAR 4, SEMESTER 1 2016/2017

KKKP4214: Automation and Robotics Lab
REPORT

ROBOT PICK AND PLACE

Name

: NURUL ADAWIYAH BINTI M.JASSIN

Student No.

: A144154

Experiment Date

: 7/Nov/2016

Submit Date

: 21/Nov/2016

Lecturer

: Assoc Prof Ir. Dr. Rizauddin

Demonstrator

: Mrs Rina Tasia

INTRODUCTION

This robotic experiment is a part of KKKP 4214 syllabus that requires the student to
hands-on of manipulating an industrial robot. Recently, the automation is playing important
role to save human energy in most of the regular and frequently carried works. One of the
major performed works is picking and placing of jobs from source to destination. A robot is
the main component of a flexible production system (FPS). Other components of this system
are machine tools, transport machines, control devices, and different auxiliary elements. A
flexible production system is an automatically operating production system that can be easily
reprogrammed and adapted to manufacture different products.
Nowadays, the computer-based automation increase mainly due to the need for better
productivity and delivery of end products with uniform qualify. This led to a broad based
interest in the use of mechanical arm capable of performing a variety of manufacturing
functions in a flexible environment and at lower costs. Indeed, the use of industrial
mechanical arm characterizes in automation of the manufacturing process.
Thus, in this robotic lab, the pick and place mechanical arm is a human controlled
based system that detects the object, picks that object from source location and places at
desired location. For detection of object, human detect presence of object and move machine
accordingly. Therefore, the FANUC Arc Mate 100i is one of robotic arm used in this
experiment. This robot is fully an articulated robot arm with 6 axes. The direction of the robot
is twisting, up-down and side to side. Meanwhile, the controller R-J2 is connected to robot
and teaching pendant is connected to the controller.

OBJECTIVES

1) To learn the programming, jogging and testing the robot program in one step sequence
and one cycle.
2) To explore the manipulation of industrial robot operations and movement in different
coordinate systems.
3) To expose with the actual robot to experience its basic motions using the teach
pendent.
4) To determine a path for picking and placing an object by avoiding obstructions in the
way.

EQUIPMENT
1) Arc Mate 100i FANUC pick and place robot
Manipulator
Gripper (SMC)
Controller (Fanuc R-J2)
Drives
Teach Pendant
2) For product: Cylindrical Rod

PROCEDURE
1. The RJ-2 controller is turn ON and the READY button at the PLC control panel is
pushed until the green button light up.
2. The teach pendant, the DEADMAN switch is pushed and the teaching pendant is turn
ON.
3. While pushing SHIFT, jog the robot by pushing the axis at the teaching pendant.
4. COORD is used to change the type of movement during the experiment. The ARCMATE 100i consists of 3 types of movement base on the coordination systems:
i.
JOINT Coordinate System Moves any individual axes of the robot (J1, J2,
ii.

J3, J4, J5 and J6).

XYZ Coordinate System Moves the face plate of the robot in the x, y, or z

iii.

directions and about the x, y or z (w, p or r) axes.

TOOL Coordinate System Moves the robot tool center point (TCP) in the x,
y, or z direction and rotates about x(w), y(p) and z(r) in the tool selected

frame.
5. The robot is manipulated based on the individual style and creativity as long as it did
not damage the robot or harmful to human safety.
6. The task is to move the coordination and movement of robot arm from starting point
then move to pick up the cylindrical rod from the conveyor and then that the
cylindrical rod are being placed into the rack and finally the robot arm goes back to
the starting point.

RESULT
Each of the movement of the robot arm was illustrating by using coordinate coding.
Coding is used to give an instruction to the robot arm for a whole complete cycle of
movement and the coordination of the process.
The movement and position of Arc Mate 100iB for the task given:
1: J P[1] 45% FINE

Starting position

2: J P[2] 45% FINE

3: J P[3] 45% FINE

Robot arm movement to pick up the cylindrical rod

4: J P[4] 45% FINE

5: J P[5] 45% FINE
6: RO[1]=ON

Gripper of end effector closed to pick up the cylindrical rod

7: J P[6] 45% FINE

8: J P[7] 45% FINE
9: J P[9] 15% CNT10
10: J P[8] 15% CNT20

Robot arm movements from the conveyor until the

cylindrical rod being placed into the rack

11: J P[10] 15% CNT100

12: J P [11] 15% CNT100
13: J P [12] 15% CNT100
14: RO [1]=OFF

Gripper opened to release the cylindrical rod

15: J P [13] 15% CNT100

16: J P [14] 45% FINE
17: J P [15] 45% FINE
18: J P [16] 45% FINE
19: J P [17] 45% FINE

Robot arm movements goes back to the starting point

DISCUSSION
Regarding the past, word Robot was coined by a Czech novelist Karel Capek in a
1920. Robot in Czech is a word for worker or servant. Thus, the robot itself defined as a
reprogrammable, multifunctional manipulator designed to move material, parts, tools or
specialized devices through variable programmed motions for the performance of a variety of
tasks.
In this experiment, the robot arm consist of six-axis, modular construction, electric
servo-driven robot designed for precise, high-speed welding and cutting. The ARC Mate 100i
provides accurate and consistent path performance, thus its necessary for welding and
cutting.
Indeed, provides reliable performance with high productivity.
1. The movement of robot arm regarding the task given:

Figure 1: Robot arm in the starting position

Figure 2: Robot arm pick up the cylindrical rod

Figure 3: The gripper grip the cylindrical product on the conveyor

Figure 4: The cylindrical rod are being placed into the rack

Figure 5: The robot arm are goes back to the starting position

2. The description of robot arm motion

The motion of robots manipulator joints, the tool or the gripper can be described in
different coordinate systems. These coordinate systems are used for the realization of
several control functions, including off-line programming, program adjustment,
coordination of the motion of several robots or a robot and additional servo drives,
jogging motion, copy of programs from one robot to another, etc.
For the motion format, the path of motion to a specified position is specified. Those
options involves, Joint motion (J), Linear or Rotation motion (L), Circular motion (C),
and Circle arc motion (A).
2.1 Joint motion, J
The joint motion mode is the basic mode for moving the robot to a specified position.
The robot accelerates along or about all axes, moves at a specified feed rate, decelerates, and
stops at the same time. The path of motion is usually non-linear and specified to teach an end
point. A percentage of a maximum feed rate is specified as the feed rate of joint motion
(sec/msec). The attitude of a tool being moved is not controlled.

Figure 6: Joint motion

2.2 Linear motion, L

The linear motion mode controls the path of tool center point motion from a start
point to an end point; the tool center point moves linearly. The motion format is specified to
teach an end point. For linear feed rate specification, an option must be chosen from mm/sec,
cm/min and inch/min. The attitude of a tool being moved is controlled by distinguishing the
attitude at a start point from the attitude at a target point.

Figure 7: Linear motion.

Rotary operation is a method of travel in which the tool is rotated about the tool center
point from the start position to the end position by using linear operation. The orientation of
the tool during travel is controlled by dividing the orientation at the start position and that at
the destination position. The feed rate is specified in deg/sec. The focus is controlled linearly.

Figure 8: Rotation motion.

2.3 Circular Motion, C

The circular motion mode controls the path of tool center point motion from a start
point to an end point through a passing point. Both a passing point and a target point are
taught in one instruction. The attitude of a tool being moved is controlled by distinguishing
the attitude at a start point from the attitude at a target point.

Figure 9: Circular motion.

2.4 Circle Arc Motion, A

The circular motion instruction requires to teach the passing point and end point in
one line. Meanwhile, the circle arc motion requires to teach only one position in one line.
Where, the circle arc motion is executed connecting the circular arc.

Figure 10: Circular arc motion.

3. Joint Coordinate
FANUC Arc Mate 100i is the articulated type of 6 axes pick and place robotic arm.
Therefore, it has 6 joint which is J1, J2, J3, J4, J5 and J6. Position data consisting of joint
coordinates are defined as angular displacement with respect to the joint coordinate system
on the base side of each articulation.
J1, J2, J3

J4, J5, J6

E1, E2, E3

Main axis

Wrist Axes

Additional axes

Figure 11: Six-axes joint of robotic arm

4. Positioning Path
Positioning path are defined as the method of ending robot operation in a motion instruction.
Two positioning path modes are available: FINE position path and CNT positioning path

Figure 12: Positioning Path

5. Robot Controller
The input/output (I/O) circuit interfaces the controller with the peripheral units by
receiving and sending signal via the I/O link cable and peripheral connecting cable. The
remote input/output signal is used for communication with the remote controller.

Figure 13: Robot controller

6. Teach Pendant
The teach pendant provides an interface between the application tool software and the
operator. The tech pendant is connected to the printed circuit board in the controller by a
cable. The operations that can be performed using the teach pendant are follows:
I.
II.
III.
IV.
V.

Jog feed of the robot

Program creation
Test execution
Operation execution
Status check

Teach pendant enable switch

This switch enables or disables the teach

pendant. When the teach pendant is
disabled, a jog feed, program generation, or
test execution cannot be carried out.

Deadman switch

DEADMAN SWITCH is used as an

enabling device. When the teach pendant is
enabled, this switch allows robot motion
only while the deadman switch is gripped. If
you release this switch or grip this switch
strongly, the robot stops immediately.

Emergency stop button

When pressed, the emergency stop button is

immediately stops the robot.
Table 1: Switches on the teach pendant

Figure 14: Teach Pendant controller

SAFETY PROCEDURES
a. Students must get the instruction from the demonstrator before carrying out the
experiment.
b. Do not try robot teaching without supervision of lecturer or instructor
c. Never touch the robot body when READY at the controller ON.
d. Always be outside the yellow line to prevent any hazard.

CONCLUSIONS
From this robotics experiment, as students able to hands-on and experience of
manipulating an industrial robot while learning the programming, jogging and testing the
robot program in one step sequence and one cycle. Besides, able to explore more the
manipulation of industrial robot operations and movement in different coordinate systems.