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List of Figures and TablesFigure 2.1: Scorbot-ER V Plus.Figure 2.2: Controller-ATable 2: The movement of robotFigure 2.3: Robot arms links and Robot arm jointsFigure 2.4: Operating range (Top view)Figure 2.5: Operating range (Side view)Figure 3.1: Physical Layout of SCORBOT-ER V PlusFigure 5.1 MoveFigure 5.2: Shoulder move downwardsFigure 5.3: Clamp openFigure 5.4: Shoulder move upwardsFigure 5.5: Move to the rightFigure 5.6: Shoulder move downwardsFigure 5.7: Clamp openFigure 5.8: The coding created to move the block from origin to next pointFigure 5.9: The response of each joint motor rotary and linearlyFigure 6.0: The response of each joint motor rotary and linearly


1. To develop a computer ATS programmer ad simulate the running operations of the above case study.2. To exposed student with the working principle of the Scorbot-ER V Plus.2.0INTRODUCTION

In this present days, robot has been widely used in various kind of areas depending on their applications, as an example robotic arm has been implemented in manufacturing area which is purposely to increase the productivity and enhance the quality of production. This kind of robot specializes in repeatable doing and great accuracy. Hence, as a learning processes students are exposed to robotic arm Scorbot-ER V Plus model. Scorbot-ER V Plus is a vertical articulated robot that consists of 5 degrees of freedom with gripper end-effectors with two fingers. Specifically, this model has its own stationary base, body, upper arm, forearm and gripper (Figure 1).Figure 2.1: Scorbot-ER V Plus.

The robot movement is specially interfaced and controlled by Advanced Control Language (ACL).Controller-A (Figure 2), a stand-alone, real-time, multi-tasking controller with PID and PWM driver. The controllers internal programming language is interfaced with computer. Hence, this robot is basically controlled by computer with Advanced Terminal software (ATS).Figure 2.2: Controller-A

The movement of the robot arms as follow:Axis No.Joint NameMotion

1BaseRotates the body one

2ShoulderRaises and lowers the upper arm

3ElbowRaises and lowers the forearm

4Wrist PitchRaises and lowers the end effectors

5Wrist RollRotates the end effectors

Table 2: The movement of robot

Figure 2.3: Robot arms links and Robot arm joints

Since this application robot arms is usually implemented in industry, hence the total workspace of the robotic arm also needs to be considered. Figure 3 and 4 indicates the work range of the robot arm.Figure 2.5: Operating range (Side view)Figure 2.4: Operating range (Top view)


1. Scorbot-ER V plus2. ACL controller3. Desktop PC with ATS software4. Sample green cube5. Makeshift platform

Figure 3.1: Physical Layout of SCORBOT-ER V Plus4.0PROCEDURE

1. Firstly, the manual of the robot was studied carefully during laboratory practical before the experiment start.2. The ATS programmed for Scorbot-ER V plus was developed for case study.3. The ATS programmed was ran and tested.4. The developed programmed being checked whether the programmed meets the requirement of the case study to ensure this Scorbot-ER V plus can be functioning.5. Programmed was confirmed first and let the programmed runs continuously to observe either this Scorbot-ER V plus can perform efficiently.6. Joint angles and the respective Cartesian positions for each position of the robot were recorded in this experiment.5.0 RESULTS

The results that gained from the physical orientation and also programming flow are illustrated as a record of our test-run.I. PHYSICAL LAYOUT FLOW OF OPERATION

Figure 5.3: Clamp openFigure 5.1 Move

Figure 5.2: Shoulder move downwards

Figure 5.7: Clamp openFigure 5.6: Shoulder move downwardsFigure 5.5: Move to the rightFigure 5.4: Shoulder move upwards

II. ATS PROGRAMME Sample codingdefp LIA0;here LIA0;

defp LIA1;here LIA1;

defp LIA2;here LIA2;

defp LIA3;here LIA3;

defp LIA4;here LIA4;

defp LIA5;here LIA5;

defp LIA6;here LIA6;

defp LIA7;here LIA7;PROGRAM LIA************************2722: MOVEDLIA02723:MOVEDLIA1Figure 5.8: The coding created to move the block from origin to next point


Figure 6.0: The response of each joint motor rotary and linearlyFigure 5.9: The response of each joint motor rotary and linearly


For purpose of industrial application, this robot should be able to be manipulated depending on the objectives and task given. Hence, this robot enable user to manipulate at the gripper whereby the gripper can be varied into any kinds of tools such as spot welding tool, soldering tool for mini operation and many more. Besides that, the program also should be varied whereby it does not limited at same program with same operation, but it can be manipulated into specific task and more flexible. Based on layout configuration, instead of having fixed vertically on ground, the robot can also be placed on the wall and also laterally on the ceilings to save space or to give ways for moving mechanism such as conveyor operation. Moreover, in industry areas, it is guaranteed that the platform of base robot is mobile and able to move forward or backward. This added its own functionality and able to serve a wide variety of tasks. 6.1Robotic layoutBased on the overall layout of the Scorbot-ER V Plus model, we had determined that lower part of the robot which is the base rotates at its own fixed plane. While the shoulder are connected to the base through a joint that rotates at vertical plane and the elbow are connected to the shoulder through joint which rotates at vertical plane. The wrist is then acts as a portion connected to the elbow which produced two degrees of freedom. The wrist movement is subdivided into two parts, wrist roll and wrists pitch. The wrist roll mechanism is similar to our palm so that it either face-up or down. Meanwhile the wrist pitch may bend-up or down as a human would so. The gripper is the end effectors connected to the wrist which capable to open and close. This function is similar to the human being using its index finger and thumb to grasp an object. 6.2Program developedDuring the session of experiment, the program has been completely developed by us with consult by technician. The objectives have been achieved; to develop a computer ATS programmer and simulating the running operation from one position to another position. Based on the results, the program consists of 7 codes as listed to move a green solid object from one position to another position. Even this program is simple and easy, however in industry areas their trying to achieve as minimum of code and movement as possible to reduce time and cost. However, this simple program and simulation has exposed us to conduct a robot efficiently and able to create program as desired.

6.3Joints angle and Cartesian positionDuring the simulating of the robot, we had observed that the joint and position of the robot possess joint angle only. This is due to the every joint of robot exhibit rotation or angle displacement. From our theory, it is better to implement angle joint than cartesian position. This is due to cartesian position needs the exact point to move from one another, Meanwhile angle joint required some angle measurement to move from one point to another. It is complicated and troublesome to determine the exact point needed for the robot to move instead of knowing the angle and the position of the robot movement. 7.0CONCLUSION

Based on the robotics programming and simulation for the robotic arms, we can conclude that it is important to expose the student with the robot application using mostly in manufacturing industries. After completing the robotic lab demonstration, we were experiencing the basic robotics coding and instruction based on our creativity. Then, we demonstrate the operation of the robotic arm from the developed ATS programme up until the execution of the transfer process of the green cube from one platform to another platform. We managed to reach the objectives of this project by the given case study. So we can conclude that this robotic lab demonstration giving the student knowledge more about the robot programming and its application in manufacturing activities.


1. Since the Scorbot-ER V Plus area in Mechatronic Lab contains different kinds of applications such as conveyer system, rod stack rack and switches system. It is recommend that these application areas also been exposed and experimented by students instead of pick and place.2. For improvement, it is suggested that the robot arm may add a linear motor at the base whereby the robotic arm base can move x and y axis instead operates at a fixed position.3. Besides that, case study should be more to ensure the student explore and able to operate the robot effectively. This can be included with case study of previous final year project since the technology can be used for exploration and might be further improve by students.9.0REFERENCES

1. Lab sheet Scorbot-ER V Plus, Mechatronic lab level 4.3.