16.5 LABORATORY - ROBOT INTERFACING

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Purpose: Basic robot interfacing

Overview:

Pre-Lab (individual):

1. Develop a program that will put down and pick up balls at two different point for both robots.

2. Test both programs on-line.

3. Plan for a mode of robot operation either one robot can deposit a ball in a center pickup point, or at their own private pickup points. (Only a single ball will be used) Each robot will have a button connected to it. If the robot button and the other robot has the button, the robot will request the ball from other robot (using an I/O line). A list of the inputs and outputs is given below. Develop a simple diagram showing outputs and inputs to connect two robots and sensors. Develop a state diagram for the operation of both robots. Rewrite the robot programs from step 1 so that they will use the inputs.

input #1 ball in my private point

input #2 other robot wants ball

input #3 ball request button

output #1 request ball from other robot

In-Lab (groups of 4):

1. The instructor will discuss interfacing issues.

2. Each group should do each of the three parts below in turn.

1a. Test programs on the RV-M1, and add grippers/fixtures as required

1b. Test programs on the RT-3000, and add grippers/fixtures as required

1c. Connect and test the wiring for each of the robots and the interface

2. Integrate all of the equipment for the final task.

Submit:

1. Individually developed programs for the robots.

2. Group programs for the robots and PLC.