DISCUSSION

In this experiment, the objective of the experiment is to conduct the simulation of

movement of the robotic arm to transfer the product from one station to another station by
developing the computer ATS programme. The discussion for the experiment will focused on the
(Robotic layout and program developed) and (Joint angle and Cartesian position of the robot).

a) Robotic layout and program developed

Before performing the experiment, we were introduced to the Scorbot ER-V Plus and the
important part that will be used to perform the given task. The main component is the arm itself
that will grab the product and move it to the assigned position. The second part is the controller
that will be the decoder for the robotic arm which is connected with the computer (main
controller unit) and Scorbot teach pendant.

As mention before, the task given is to transfer the product from work station to
unloading station by using the programed command and run the simulation on the robotic arm.
The program being used in this experiment is the ATS programme. The several commands were
used to move the product from work station to unloading station. Before we created the
command, the command name needed to differentiate for one command to other command. In
this task, KOR commands are assigned that consists of different movement command according
to the number at the back. For example, KOR1, KOR2, KOR3 and others. To perform the task,
the command KOR1, KOR3 and KOR6 are used. The KOR program is used to move command
while the open and close actions just use the OPEN and CLOSE command in between KOR
command. After the commands are assigned, the KOR program was arrange according to the
desire movement of the robotic arm which is to move the product. When the set of commands is
complete, the robotic arm will operate accordingly by following the programmed command.
b) Joint angle and Cartesian position of the robot

The joint angle and Cartesian position of the robot were recorded in the ATS program
after the programed commands are done. The values that get from the programed command will
be the reference to the operator if the position of the product needs to change. By knowing the
joint angle and Cartesian position of the robot, the alteration for the new position of the arm to
follow the new position of the product will be simpler.

Moreover, for example, if the operators need to handle more than one robotic arm that
need to do the same movements by using the same coordinate, the first programmed robotic arm
can be the reference and can be used to the other robotic arm that will perform the same task.
Recommendation

From the experiment carried out, according to the given task, the existing system can be
improved by using different program that consist of graphical command for example the symbol
that will make the operator of the robotic arm instead of typing the command in the program, he
can operate the robotic arm more simpler. It also can reduce the time taken for the operator to
seat in front of the computer (main controller unit) to type the command program..