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The experiment focuses on programming and operating an Aristobot 6-axis robotic arm for a precise pick-and-place operation with a 3kg payload. It details the setup, calibration, programming, and execution processes, demonstrating the robot's capabilities within specified parameters. The results indicate the robot's efficiency and potential for industrial applications, while noting the importance of operating within a temperature range of 6°C to 40°C.

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2 views

Exp

The experiment focuses on programming and operating an Aristobot 6-axis robotic arm for a precise pick-and-place operation with a 3kg payload. It details the setup, calibration, programming, and execution processes, demonstrating the robot's capabilities within specified parameters. The results indicate the robot's efficiency and potential for industrial applications, while noting the importance of operating within a temperature range of 6°C to 40°C.

Uploaded by

charangandhar005
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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EXPERIMENT – 4

Course Code: BMHA303P


Course Title: Industrial Robotics Lab
Slot: L5+L6

Sricharan Rangarajan
22BMH1119 (Group D)
COMBINED EXPERIMENT: PICK AND PLACE OPERATION USING
ARISTOBOT 6-AXIS ROBOT

Objective:
To program and operate an Aristobot 6-axis robotic arm for performing a
precise pick-and-place operation with a payload of 3kg, utilizing the robot's
repeatability of ±0.3mm and a tip speed of 0.2 m/s.

Apparatus:
• Aristobot 6-axis robotic arm with a 654mm horizontal reach
• Workbench with a designated pick and place area
• Controller panel and software interface (as shown in the image)
• Objects with a weight of 3kg or less for pick-and-place operation
(e.g., blocks, discs, etc.)
• Gripper end-effector
• Computer system for monitoring and programming

Procedure:
Initial Setup:
1. Connect the Aristobot robot to the controller and computer interface.
2. Ensure the workspace is clear, and the robot base is securely
mounted.
3. Verify that the controller box is within the operating temperature
range of 6°C to 40°C.
Software Initialization:
1. Open the Aristobot control software on the computer.
2. Enable the Cartesian and Axis Control modes for joint-specific and
Cartesian movements.
3. Set the position feedback mode to "Optical Encoders" for accurate
positioning.
Gripper Setup:
1. Attach the gripper end-effector to the robot arm.
2. Use the Gripper Control options in the software to test "Open" and
"Close" commands for picking and releasing objects.
Calibration:
1. Zero all the axes (AX1–AX6) using the software interface.
2. Set the base position and define the Cartesian workspace
coordinates.
Programming the Movement:
1. Use TEACH mode to manually jog the robotic arm to:
o Pick Point: Place the gripper above the object to be picked and
record this position.
o Place Point: Move the gripper to the drop location and record
this position.
2. Save these positions in the software using the ENTER key.
Command Input:
Input the following sequence of commands:
o Move to Pick Point: Jog the robot to the recorded pick point
using Axial Control for Axes 1, 2, 3 and 5 (Base, Shoulder, Elbow
and Wrist Pitch).
o Gripper Close: Close the gripper to grab the object.
o Move to Place Point: Move the robot to the recorded place
point using the same Axial Control.
o Gripper Open: Open the gripper to release the object.
Execution:
1. Execute the saved program in Cycle Mode from the software
interface.
2. Monitor the robot’s operation on the control panel and software.

Fine-Tuning:
1. Adjust the Cartesian coordinates for precise alignment if needed,
considering the robot's repeatability of ±0.3mm.
2. Modify the speed and acceleration values for smooth operation,
ensuring the tip speed remains within the 0.2 m/s limit.

Result:
The Aristobot successfully performs the pick-and-place operation with a
3kg payload, demonstrating its ability to manage precise movements within
the specified parameters. This experiment helps understand the Aristobot's
kinematics, gripper operation, and Cartesian movement within the
constraints of payload, repeatability, and tip speed.

Inference:
The Aristobot 6-axis robot, with its specified payload capacity,
repeatability, and tip speed, has the potential to be a reliable and efficient
solution for various industrial applications. The robot's ability to perform
precise pick-and-place operations, coupled with its Cartesian control and
axis control capabilities, suggests its versatility in handling tasks that
require accurate positioning and movement.
However, the operating temperature constraint (6°C to 40°C) should be
considered when deploying the robot in different environments.
Schematic/Picture:

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