Efficient solutions for programming and safe monitoring of an industrial robot via a virtual cell

Efficient Implementation of Iterative Inverse Kinematics in Real Time Control Architecture

“…In this section the iterative procedure proposed in [2] for the computation of a robot inverse kinematics is briefly recalled, before discussing the modifications and enhancements subsequently introduced for its application to a wide variety of industrial robots. The original procedure, developed for the MRDS simulator and a specific manipulator (the Comau NS12 robot), uses three algorithms in synergy so to fully exploit the advantages of each of them: the Newton algorithm [3], the gradient algorithm [9] and the Damped Least-Squares (DLS) method [8].…”

“…The paper is organized as follows: Section 2 describes the developed inverse kinematics procedure, discussing its main differences with respect to its previous version implemented in the MRDS simulator in [2]. Section 3 illustrates the main guidelines followed in its real time implementation and in the optimization of the code, which has been tested with reference to different criteria.…”

“…The use of iterative procedures for the computation of a robot inverse kinematics can significantly contribute to the creation of a unified approach for large classes of robots. Despite various theoretical iterative methods are available (see e.g., [2], [8], [10]), several industrial implementations are still based on closedform solutions of the inverse kinematics, developed ad hoc for the specific kinematic structure of the considered robot. Time constraints imposed by real time control architectures, and the popular, false belief that the convergence properties of the iterative algorithms are not sufficiently robust for industrial requirements, have probably contributed to limit the actual implementation of iterative inverse kinematics methods.…”

“…it/labrob) and Comau SpA (www.comau.com), aimed at the creation of a hardware/software architecture based on a virtual robotic cell built up using Microsoft Robotics Developers Studio (MRDS) [1], [2], [4], which unites the functionalities of a standard off-line simulator with soft real time robot monitoring and the possibility of controlling the real manipulator, thanks to the bidirectional communication established between the robot and the virtual environment. In particular, in [2] a preliminary solution was proposed to obtain an efficient and fast computation of the inverse kinematics of a specific robot to be implemented in the MRDS simulator. Starting from such a solution, a more general procedure has been developed, introducing some modifications to allow an easy application to a wide variety of robots.…”

Metodologia de integração <i>on-line</i> de dados reais de manufatura com ambientes de realidade virtual imersivos

“…Abrate et al (2011) desenvolveu um sistema para monitoramento seguro de um robô industrial através de um ambiente virtual. O pesquisador definiu áreas de risco em torno de objetos virtuais para minimização do atraso da comunicação entre objetos reais e virtuais.…”