Lab 5

Arc Command in Robot

Objective:
Here are some objectives of the arc command in Robot in COSIMIR software:
 Precise and efficient robot movement: The arc command allows the robot arm to move
in a curved path with high precision and accuracy, resulting in more efficient and
streamlined movement.
 Smooth motion: The arc command helps the robot arm move in a smooth and fluid
motion, making it ideal for applications that require delicate or intricate movements.
 Increased flexibility: The arc command allows the robot arm to move in any direction,
providing greater flexibility in programming and allowing for more complex movements
than traditional straight-line commands.
 Improved productivity: By enabling faster and more accurate movements, the arc
command can help increase productivity and reduce manufacturing or production time.
 Reducing material waste: The precise movements enabled by the arc command can
help reduce material waste, minimize defects, and reduce costs associated with errors
or rework.

Introduction:
The arc command in Robot is a programming tool used to create a curved path for a
robot arm in the COSIMIR software. The arc command defines the start and end points
of the arc, as well as the radius of the arc and the direction in which the robot arm
should move. This command allows for more precise and efficient robot movement in
curved paths, allowing for better accuracy and smoother motion. The arc command is
an essential tool in robotics programming and is widely used in industrial applications.
n robotics, the arc command is used to control the movement of a robot's end-effector
along a circular path. In Cosimir software, the arc command is a programming feature
that allows users to define and execute these circular movements.
The arc command in Cosimir can be used to specify the starting point, center point, and
end point of the desired circular path, as well as the radius and orientation of the circle.
This information is then used by the software to calculate the necessary joint angles and
movements required to follow the circular path.
Using the arc command in Cosimir, users can program complex movements and
trajectories for a robot's end-effector, which can be useful for applications such as
material handling, welding, and assembly. The software also provides a graphical user
interface that allows users to visualize and adjust the circular path in real-time, which
can be helpful for fine-tuning the robot's movements.

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Overall, the arc command in Cosimir software is a powerful tool for controlling the
movement of a robot's end-effector along circular paths. By enabling users to program
complex movements, the software can help to increase the efficiency and accuracy of
robotic systems in a variety of applications.

Procedure:
1. Create a new project in Cosimir.
2. Go to menu bar click on Extra menu select Teach In then select XYZ Jog
option click on Set XYZ Position than Set X = 355, Y = 0, Z = 550, and Pitch =
90 than click OK select Press Current Position button then Close then window.
Point P1 is created in position list.

3. Go to menu bar click on Extra menu select Teach In then select XYZ Jog
option click on Set XYZ Position than Set X = 355, Y =50, Z = 500, and Pitch =
90 than click OK select Press Current Position button then Close then window.
Point P2 is created in position list.

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4. Go to menu bar click on Extra menu select Teach In then select XYZ Jog
option click on Set XYZ Position than Set X = 355, Y =-50, Z = 500, and Pitch
= 90 than click OK select Press Current Position button then Close then window.
Point P3 is created in position list.

5. Go to menu bar click on Extra menu select Teach In then select XYZ Jog
option click on Set XYZ Position than Set X = 355, Y = 0, Z = 450, and Pitch =
90 than click OK select Press Current Position button then Close then window.
Point P1 is created in position list.

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6. Go to menu bar click on Edit menu select Programming Wizard click OK. Edit
generated program as following.

Programming
10 REM MELFABASIC_IV
20 SPD 100
30 MVC P1, P2, P3
40 DLY (3)
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50 MVS P1
60 MVS P2
70 MVS P3
80 MVS P1
90 DLY (3)
100 MVS P1
110 MVS P2
120 MVS P4
130 MVS P3
140 MVS P1
150 GOTO 10
160 END
7. Go to menu bar click on Extra menu then Click TCP Tracking.
8. After completing all the above step Press Compile+Link button. Press Start
Button to Start simulation and press Stop button when you want to stop the
simulation.

Conclusion:
In conclusion, the arc command in Robot in COSIMIR software is a powerful tool that
allows for precise, fluid, and flexible movement of the robot arm. Its benefits include
increased productivity, reduced material waste, and improved quality control. By
enabling complex and efficient movements, the arc command enhances the
functionality of the robot in a wide range of industries and applications, making it an
essential feature of COSIMIR software.

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