Off-line programming of an industrial robot in a virtual reality environment

Manou, Evgenia; Vosniakos, George–Christopher; Matsas, Elias

doi:10.1007/s12008-018-0516-2

Cited by 15 publications

(12 citation statements)

References 32 publications

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“…In addition, the teaching is done by workers according to the path to be taken by the industrial robot, which increases human work labor, and each person has different evaluation criteria, so the industrial robot itself does not achieve intelligence. Industrial robots are designed and used to improve the flexibility of the manufacturing process, but the motion process of industrial robots is realized based on the programming of the demonstrator, so the use of industrial robots will no longer have the advantage of flexibility for variable environments [6]. In this paper, we use offline programming technology to import the target poses into the algorithm of the inverse kinematic solution of the industrial robot and drive the motion of the industrial robot body directly by obtaining the joint angle-time sequence of the industrial robot to be tracked trajectory to maximize the flexible manufacturing capability of the industrial robot [7].…”

Section: Introductionmentioning

confidence: 99%

[Retracted] Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

Guang

2022

Discrete Dynamics in Nature and Society

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This paper studies the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment and guides the kinematic dynamic simulation modeling of industrial robots in the Industry 4.0 environment in the context of the research. To address the problem that each parameter error has different degrees of influence on the end position error, a method is proposed to calculate the influence weight of each parameter error on the end position error based on the MD-H error model. The error model is established based on the MD-H method and the principle of differential transformation, and then the function of uniform variation of six joint angles with time t is constructed to ensure that each linkage geometric parameter is involved in the motion causing error accumulation. Through the analysis of the robot marking process, the inverse solution is optimized for multiple solutions, and a unique engineering solution is obtained. Linear interpolation, parabolic interpolation, polynomial interpolation, and spline curve interpolation are performed on the results after multisolution optimization in the joint angle, and the pros and cons of various interpolation results are analyzed. The trajectory planning and simulation of industrial robots in the Industry 4.0 environment are carried out by using a special toolbox. The advantages and disadvantages of the two planning methods are compared, and the joint space trajectory planning method is selected to study the planning of its third and fifth polynomials. The kinetic characteristics of the robot were simulated and tested by experimental methods, and the reliability of the simulation results of the kinetic characteristics was verified. The kinematic solutions of industrial robots and the results of multisolution optimization are simulated. The methods, theories, and strategies studied in this paper are slightly modified to provide theoretical and practical support for another dynamic simulation modeling of industrial robot kinematics with various geometries.

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Section: Introductionmentioning

confidence: 99%

[Retracted] Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

Guang

2022

Discrete Dynamics in Nature and Society

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“…The researchers further compared the MR with VR and created a framework to program different shapes using MR. In another work [22], the authors proposed a model that encapsulates offline robot programming with VR. However, this work used external magnetic sensors to generate the program.…”

Section: Related Workmentioning

confidence: 99%

Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

2021

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A Digital Twin is the concept of creating a digital replica of physical models (such as a robot). This is similar to establishing a simulation using a robot operating system (ROS) or other industrial-owned platforms to simulate robot operations and sending the details to the robot controller. In this paper, we propose a Digital Twin model that assists in the online/remote programming of a robotic cell by creating a 3D digital environment of a real-world configuration. Our Digital Twin model consists of two components, (1) a physical model: FANUC robot (M-10iA/12), and (2) a digital model: Unity (a gaming platform) that comes with specialized plugins for virtual and augmented reality devices. One of the main challenges in the existing approach of robot programming is writing and modifying code for a robot trajectory that is eased in our framework using a Digital Twin. Using a Digital Twin setup along with Virtual Reality, we observe the trajectory replication between digital and physical robots. The simulation analysis provided a latency of approximately 40 ms with an error range of −0.28 to 0.28∘ across the robot joint movements in a simulation environment and −0.3 to 0.3∘ across the actual robot joint movements. Therefore, we can conclude that our developed model is suitable for industrial applications.

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“…Manou et al demonstrated robot teaching by demonstration for robot seam welding, deburring or cutting applications where the project deployed industry-grade photogrammetry software and hardware to build the system [3]. A 6 degree-of-freedom flock-of-bird magnetic sensor is used to allocate a hand-held teaching device and coded targets are placed on the workpiece for its calibration.…”

Section: Introductionmentioning

confidence: 99%

Solpen: An Accurate 6-DOF Positioning Tool for Vision-Guided Robotics

Tran²,

Nguyen³

et al. 2022

Electronics

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A robot trajectory teaching system with a vision-based positioning pen, which we called Solpen, is developed to generate pose paths of six degrees of freedom (6-DoF) for vision-guided robotics applications such as welding, cutting, painting, or polishing, which can achieve a millimeter dynamic accuracy within a meter working distance from the camera. The system is simple and requires only a 2D camera and the printed ArUco markers which are hand-glued on 31 surfaces of the designed 3D-printed Solpen. Image processing techniques are implemented to remove noise and sharpen the edge of the ArUco images and also enhance the contrast of the ArUco edge intensity generated by the pyramid reconstruction. In addition, the least squares method is implemented to optimize parameters for the center pose of the truncated Icosahedron center, and the vector of the Solpen-tip. From dynamic experiments conducted with ChArUco board to verify exclusively the pen performance, the developed system is robust within its working range, and achieves a minimum axis-accuracy at approximately 0.8 mm.

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Off-line programming of an industrial robot in a virtual reality environment

Cited by 15 publications

References 32 publications

[Retracted] Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

[Retracted] Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

Digital Twin for FANUC Robots: Industrial Robot Programming and Simulation Using Virtual Reality

Solpen: An Accurate 6-DOF Positioning Tool for Vision-Guided Robotics

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