Scorebase ROBOCELL Experiment for pick and place of object

Robocell and Scorbase are two different but integrated programs. Scorebase is used to
program Scorbot ER 4U while Robocell provides and environment suitable for simulation
and off line working. Running application ROBOCELL will also run Scorbase application in
an integrated mode.

Basics of programming used in Robocell:

1. In order to program the Scorbot, it is first necessary to define positions. Positions are
taught by moving the robot to the desired position using the Robot Movement Dialog Box
shown in Figure 1. Then the Teach Position Dialog Box is used to store the position for
use in the program. See Figure 2. For example a simple program which defines three
positions.
Position 1
Position 2
Position 3

Figure 1. Teach Positions Dialog Box

2. Next, create the program shown in Figure 2. Speed at 5 is kept.
3. Finally Click on Run

Figure 2. Simple program with three position of robot

Experiment: Procedures for pick and place

1. Double click the icon placed in the desktop named ROBOCELL
2. Open ROBOCELL application and select new project or load already made project
3. Import 3D model made in CellSetup software and we can see 3D image to the right side
of the Figure 3.
4. Start programming step wise step by defining various positions. We would see below
figures which show the simulation for pick and place of an object paced over the working
Table

SCOREBOT-ER4u
Bin
Table
Cubes
Figure 3. defined initial position 01 of robot with (Working Table, Objects (cubes),
SCOREBOT-ER4u and Bin )

Figure 4. defined position 02 to pick the object which is approaching to the object (blue color
cube) placed over the Table

Figure 5. defined position 03 (open the gripper to pick the object which is blue color cube)

Figure 6. defined position 04 (close the gripper and to move the robot for placing the object)

Figure 7. defined position 05 (robot position above the bin for placing the object)

Figure 8. defined position 06 (open gripper for placing the object inside the bin)

Figure 9. defined position 07 (robot comes its original position)