In a robotic system, filled boxes are picked, one at a time from a conveyor, and stacked in a 23 matrix. Figure Q1b illustrates the system showing the final location of all 6 boxes and identifies the positioning relative to the robot's X and Z axes. (i) Describe the setting up of this system, including the methods used to define the program locations to which the robot moves to during 'run- time'. (ii) Describe the algorithm which would be used to write the robot program to perform this task, use a flow chart to illustrate this. (iii) How can the cycle time be minimised? (iv) How would the FRAME command be used and why is this useful in a typical manufacturing environment?| 250 mm Z Components in stack X Figure Q1b Conveyor 150 mm NOT TO SCALE