14.7 LABORATORY - MITSUBISHI RV-M1 ROBOT

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Purpose:

Introduction to robots and programming methods.

Overview:

This laboratory will involve a basic tutorial on the use of the robot, including safety. The students will have prepared a program for the robot, and tested it ahead of class time using the simulator. During the laboratory the robot will be programmed and tested using the prepared programs. A simple accuracy and repeatability test will be conducted.

Pre-Lab (individual):

1. Use Netscape Communicator to access the robots in the laboratory, explore the site.

2. Review the notes on the Mitsubishi RV-M1. After this use the on-line robot to write a simple test program.

3. Write a program to pick up a pop can at one point, and drop it off at a pallet. The program should repeat six times in a row.

In-Lab:

1. Follow the robot tutorial, and then examine the robot manual.

2. Set up the pop can feeders and fixtures.

3. Enter your prelab program and modify it as required.

4. If not already done, connect the sensors on the feeders and fixture to the robot controller.

5. Add commands to the program that will examine inputs and take appropriate actions.

6. Put the robot in an extended position (tool far away from the base). Set up a dial gauge indicator so that it touches a solid point on the tool. Set the gauge so that it reads zero. Move the robot away and back to the same position, and read the value from the dial gauge indicator. Repeat this process to get 10 readings.

7. Position the robot so that the tool is in the middle of the workspace. Take similar measurements to those in step 3.

Submit (individually):

1. A copy of your prelab program.

2. A copy of the programs written during the laboratory.

3. Statistical estimates of repeatability for both positions.