In this lab you will program the Puma robot to play a melody on a toy piano/xylophone. You will strike the notes with the gripper fingers by either (1) snapping open the gripper fingers or (2) quickly ``flicking'' the robot wrist (this second option is more difficult, but more interesting)
Write your program in a way that allows you to move the xylophone to a new position without necessitating a complete rewriting of the program. That is, your program should depend only some minimal set of taught points.
You should be able to pick three ``reference'' locations on the xylophone - these will determine a local coordinate frame. Then, you'll be able to write your programs in terms of movements relative to this frame.
First you should define, relative to your local frame, the locations of the keys and a home location (where the hand might go in between notes).
Then, create a Val program that commands the robot to move to the appropriate series of locations to play a tune.
Once you have defined the locations and written the program, test the program with the xylophone in its initial position. Next, turn off the arm power to the robot (using the button on top of the teach pendant) and move the xylophone to a new position. Turn the power on, recalibrate the reference location, and execute the program again. Be careful on the first trial. Set the monitor speed low (e.g. 20) and keep a hand on the stop button on the teach pendant.