INTEGRATINON OF PERIPHERAL DEVICE ON THE CONTROL 5 DOF IGUS INDUSTRIAL ROBOT Abstract

Abstract

This paper presents an intergrated model of perepheal devicees, consisting the photoelectric sensor E3Z-T61 and relay, to extend the application of fve degrees of fredom Igus robot for a pick-place system. The locating positions of objects on a square transparent mica are designed along three rows with a distance of 70 mm and 80 mm. The pneumatic gripper mounted on the on the last link picks up objects at two positions in the 3rd row according to the sensor’signal, then place its at different positions in the frst row or second row depending on whether the object is picked up in the frst or second position. The trajectories of the objects are programmed on a PC and Integrated handheld control system display and touch- Operating Panel using using movement commands, basic commands and advanced commands of the iRC programming software.