1. COMPUTER AIDED AND APPLIED ROBOTICS
 Project Title: Programming IBM SCARA 7535 Robot
 Guide: Dr. Shiakolas, Panayiotis S
 Submitted by- Saurabh Deobhankar, UTA id: 1001114694
 INTRODUCTION: The IBM7535 is an industrial SCARA (selective compliance assembly robot arm)
with four degrees of freedom (four axes) and a weight carrying capability of 10Kg. Its suitable applications
include pick and place operations, assembly operations,and load parts. Its gripper is operated through
pneumatics.
 PROJECT TASK: Program IBM SCARA robot using AML programming language in such a way that it
can make a rectangular pattern of given object by placing them in given rectangular coordinates.The robot
has to pick the objects from specific location.
 OBJECTIVE:
1. To learn the basic controls of the IBM SCARA robot (e.g. Teach Pendant and otherswitches).
2. Program for the rectangular pattern of objects using AML programming language.
3. Successfully execute the program.
 WORKPIECE: The object used to demonstrate the functioning of the robot was a cylinder shaped pin
with a head at the top.
 PICK-UP LOCATIONS: Pick up locations were set by the manual movement of the robot arm to the
desired physical locations.
 SINGLE PICK-UP POINT: The single pick-up point was determined to be-A= (350, 250, 0).
 MULTI PICK-UP POINTS: The multiple pick-up points were determined to be-
P1= (350, 250, 0)
P2= (350, 300, 0)
P3= (350, 350, 0)
P4= (350, 400, 0)
P5= (350, 450, 0)
 PLACING LOCATIONS: The objects were placed so as to form a rectangular pattern with a center
object.
B= (-350, 280, 0)
C= (-350, 380, 0)
D= (-300, 330, 0)
E= (-250, 280, 0)
F= (-250, 380, 0)
 DIFFICULTIES FACED: Order in which the objects are placed is important. Care should be taken to
avoid collision of two objects.
 BASIC COMMANDS:
 PMOVE: Robot gripper moves to the location point
 GRASP : Robot gripper gets actuated
 UP : Robot gripper moves upward by pneumatic actuation
 DOWN : Robot gripper moves downwards by pneumatic actuation
 DELAY: Robot is dormant for the specific time period.

2.  PROGRAMS:
1. SINGLE PICK-UP POINT
NEWPROG:SUBR;
A: NEW PT (350, 250, 0);
B: NEW PT (-350, 280, 0);
C: NEW PT (-350, 380, 0);
D: NEW PT (-300, 330, 0);
E: NEW PT (-250, 280,0);
F: NEW PT (-250, 380, 0);
PICK: SUBR(p);
PMOVE(p);
DELAY(0.5);
DOWN;
DELAY(0.5);
GRASP;
DELAY(0.5);
UP;
DELAY(0.5);
END;
DROP:SUBR(d);
PMOVE(d)
DELAY(0.5);
DOWN;
DELAY(0.5);
RELASE;
DELAY(0.5);
UP;
DELAY(0.5);
END;
PICK(A);
DROP(B);
PICK(A);
DROP(C);
PICK(A);
DROP(D);
PICK(A);
DROP(E);
PICK(A);
DROP(F);
END;

3. 2. MULTI PICK-UP POINTS
 CONCLUSION: These programs were tested successfully to form the desired pattern. This project helped
us learn about the basics of industrial robot programming and functioning.
NEWPROG:SUBR;
P1: NEW PT(350, 250, 0);
P2: NEW PT(350, 300, 0);
P3: NEW PT(350, 350, 0);
P4: NEW PT(350, 400, 0);
P5: NEW PT(350, 450, 0);
B: NEW PT(-350, 280, 0);
C: NEW PT(-350, 380, 0);
D: NEW PT(-300, 330, 0);
E: NEW PT (-250, 280,0);
F: NEW PT(-250, 380, 0);
PICK: SUBR(p);
PMOVE(p);
DELAY(0.5);
DOWN;
DELAY(0.5);
GRASP;
DELAY(0.5);
UP;
DELAY(0.5);
END;
DROP:SUBR(d);
PMOVE(d)
DELAY(0.5);
DOWN;
DELAY(0.5);
RELASE;
DELAY(0.5);
UP;
DELAY(0.5);
END;
PICK(P1);
DROP(B);
PICK(P2);
DROP(C);
PICK(P3);
DROP(D);
PICK(P4);
DROP(E);
PICK(P5);
DROP(F);
END;