Online simulation as a collision prevention layer in automated shoe sole adhesive spraying

Román-Ibáñez, Vicente; Jimeno-Morenilla, Antonio; Pujol, Francisco A.; Salas-Pérez, Faustino

doi:10.1007/s00170-017-1257-2

Cited by 3 publications

(2 citation statements)

References 26 publications

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“…It is also a powerful tool in areas such research and development [44]. For this reason, a custom made software simulation for robotic arms has been developed [45] to allow users to design and test robotic cell environments in virtual scenarios. The simulation software has been designed to be as close as possible in capabilities to real industrial robotic simulation software, so students have a better idea of how robotics works in real-life scenarios.…”

Section: Simulation Softwarementioning

confidence: 99%

A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

et al. 2018

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Laboratory tasks are a powerful pedagogical strategy for developing competences in science and engineering degrees, making students understand in a practical way the theoretical topics explained in the classroom. However, performing experiments in real conditions is usually expensive in terms of time, money and energy, as it requires expensive infrastructures that are generally difficult to maintain in good conditions. To overcome this problem, virtual reality has proven to be a powerful tool to achieve sustainability, making it easy to update laboratories without the need to acquire new equipment. Moreover, the ability to introduce practical knowledge into classrooms without leaving them, makes virtual laboratories capable of simulating typical operating environments as well as extreme situations in the operation of different devices. A typical subject in which students can benefit from the use of virtual laboratories is robotics. In this work we will develop an immersive virtual reality (VR) pedagogical simulator of industrial robotic arms for engineering students. With the proposed system, students will know the effects of their own designed trajectories on several different robotic arms and cell environments without having to buy all of them and being safe of damaging the cell components. The simulation will be checking for collisions of the elements in the scene and alert the student when they happen. This can be achieved with a robotic simulator, but the integration with immersive VR is intended to help students better understand robotics. Moreover, even having a real robotic arm available for students, with this proposed VR method, all the students have the opportunity to manage and learn his own version of the robotic cell, without waiting times generated by having less robotic arms than students in classroom.

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Section: Simulation Softwarementioning

confidence: 99%

A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

et al. 2018

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“…The labor-intensive and time-consuming cold bonding process has become one of the key technologies, which determines the bonding effect between the upper and the shoe sole, and directly reflects the quality of the finished shoes. The traditional cold gluing process in the shoe industry is done manually, so the low manual efficiency, poor precision and harmful nature of the spraying materials have led to the development of the use of robotic spraying, and this has facilitated the automation of shoe sole spraying tasks (Luh et al , 2020; Román-Ibáñez et al , 2018).…”

Section: Introductionmentioning

confidence: 99%

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

Zhang

Meng

et al. 2021

IJCST

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PurposeThe purpose of this paper is to propose an automatic interpolation algorithm for robot spraying trajectories based on cubic Non-Uniform Rational B-Splines (NURBS) curves, to solve the problem of sparse and incomplete trajectory points of the head and heel of the shoe sole when extracting robot motion trajectories using structured-light 3D cameras and to ensure the robot joints move smoothly, so as to achieve a good effect of automatic spraying of the shoe sole with a 7-degree-of-freedom (DOF) robot.Design/methodology/approachFirstly, the original shoe sole edge trajectory position points acquired by the 3D camera are fitted with NURBS curves. Then, the velocity constraint at the local maximum of the trajectory curvature is used as the reference for curve segmentation and S-shaped acceleration and deceleration planning. Immediately, real-time interpolation is performed in the time domain to obtain the position and orientation of each point of the robot motion trajectory. Finally, the inverse kinematics of the anthropomorphic motion of the 7-DOF robot arm is used to obtain the joint motion trajectory.FindingsThe simulation and experiment prove that the shoe sole spraying trajectory is complete, the spraying effect is good and the robot joint movement is smooth, which show that the algorithm is feasible.Originality/valueThis study is of good practical value for improving the quality of automated shoe sole spraying, and it has wide applicability for different shoe sole shapes.

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Collaborative robotics in wire harnesses spot taping process

Román-Ibáñez

Pujol

Ortega

et al. 2021

Computers in Industry

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Online simulation as a collision prevention layer in automated shoe sole adhesive spraying

Cited by 3 publications

References 26 publications

A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

A Low-Cost Immersive Virtual Reality System for Teaching Robotic Manipulators Programming

Automatic interpolation algorithm for NURBS trajectory of shoe sole spraying based on 7-DOF robot

Collaborative robotics in wire harnesses spot taping process

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