EN3062 ROBOTICS LAB/COURSEWORK SUBMISSION-AUTUMN 2017 DEADLINE: 4pm WED. 13h Dec
ID: 1770613 • Letter: E
Question
EN3062 ROBOTICS LAB/COURSEWORK SUBMISSION-AUTUMN 2017 DEADLINE: 4pm WED. 13h December. (If submited by 4pm MON. 4 Dec. it will be returned before Xmas break). Post your submission in my coursework box in Teaching Office S/1.19 Parts 1 and 2 should all be attempted and are worth 15 and 25 marks respectively 1(a) Figure 1(b) below shows a robotic assembly cell in which an IBM SCARA robot is assembling a cover onto a box that is transported to and from the robot on a conveyer A retractable arm on the conveyer that is normally extended stops the boxes at the appropriate point and a sensor on the conveyer connected to input 3 detects the arival of a box - indicated by a high signal (value 1). The robot picks up a cover from a feeder and then waits for a box to be detected before placing the cover on the box. However if the box is the wrong way round, the robot has to rotate the cover through 180. The orientation of the box is detected by a second sensor on the conveyorconnected to input 4 -if the signal is high, the cover needs to rotated, otherwise no rotation is required. It then picks up an automatic screwdriver and inserts 6 screws in the locations indicated in Figure 1(a). To insert a screw, the robot moves to a point 50mm above the screw location, descends 50mm and then operates the screwdriver by sending a 2 second high-low-high pulse on output 4; this will cause a screw to be automatically fed to the screwdriver and then inserted. The robot then ascends 50mm before moving onto the next screw location. Once all the screws have been inserted, the robot operates the retractable arm by sending a low signal of 1 second duration on output 6; this causes the arm to retract for sufficient time to allow the completed assembly to move away. The robot then returns the screwdriver to its original location. Write an AML program to perform the assembly task, making full use of the flow control instructions to avoid duplicated code. You can assume the locations Feed, Driver, and Cover have been defined by the appropriate AML instructions. (Note that the screw locations have not been defined they can be deduced from the dimensions given in Figure 1(a)) When moving tolfrom the pick or place locations (Feed. Driver, Cover), the robot has to go via a point vertically offset by 100mm Retractable Arm Cover 200mm coder for covers eed". Figure 1(a) Figure 1(b) Robot Driver 2. The 3 DoF SCARA robot depicted opposite comprises a jointed arm with two revolute joints (8e) about parallel vertical axes At the end of the arm, the third joint (8,) is a vertical prismatic joint Derive the forward kinematic equations for this arm that give the syz position of the end-effector terms of the link lengths and the joint variables Hence derive the inverse equations using either the e algebraic or geometric approach. lf b=500mm.600mm and I,-400mm, use the inverse equations to calculate the joint values end-effector location of x 400mm, y-600mm and z-270mm. Give both solutions and sketch in plan view the two postures of the arm, annotated with the calculated joint angles.Explanation / Answer
li $t0, 0xABCD9876 ;load the immediate value into register t0
sw $t0, 100($0) ; store the byte values left to right , starting loation 100
the bytes are numbered from 100 to 103 from left to right
lb $s5, 101($0) ; load the byte in 101th loation to register s5.
So the value of $s5 = 0xCD
Little-endian :
li $t0, 0xABCD9876 ;load the immediate value into register t0
sw $t0, 100($0) ; store the byte values right to left, starting loation 100
;the bytes are numbered from 100 to 103 from right to left.
lb $s5, 101($0) ; load the byte in 101th loation to register s5.
So the value of $s5 = 0x98
Thus, the final load byte(lb) instruction returns a different value depending
on the endianness of the machine.
Related Questions
Navigate
Integrity-first tutoring: explanations and feedback only — we do not complete graded work. Learn more.