Simulation Of Industrial Robot Research Articles

MATLAB-based simulation of industrial robots in water environment monitoring

Abstract The use of industrial robots based on MATLAB simulation for water environment monitoring is to monitor the water environment better, improve monitoring efficiency and reduce monitoring costs. The robot can better collect data and can engage in deeper water-specific information. In this paper, based on the discussion of the water environment monitoring robots used in countries around the world for water environment monitoring, we introduce a MATLAB-based simulation of industrial robots in a wide range of water environments to simulate the autonomous data acquisition system. The main advantages are: compared with other robots, it can realize the “wide range” of water environment data collection; compared with fixed buoys, it can realize the “autonomous” collection of water environment monitoring data and gives the autonomous collection process and hierarchical software progression. The autonomous acquisition process and hierarchical software architecture are presented. The simulation results analysis shows no difference between the simulated data and the predicted data from the historical data using MATLAB-based industrial robots for water environment monitoring. This shows that the development of industrial robot simulation in water environment monitoring is promising and feasible.

Stability Optimization Simulation of Industrial Robot in ROS Environment

This paper studies the end actuator motion state of an RRR industrial robot, and gives a bottom up decision-making scheme based on PID algorithm. Under the background of complex industrial control, any environmental factors will have a deep effect on the accuracy. The physical representation of the accuracy of the end effector is the electrical signal. Foscus on the signal difference from joint to joint, based on the ROS and gazebo, the simulation of the RRR mechanical arm model can theoretically and intuitively Reflect the differences. To minimize the error, proportional–integral–derivative controller will be sued in this model and then Adjust PID parameters of each controller. Assume that the external interference is a linear superposition of impulse signals. The impulse response which the model makes should return to normal as soon as possible. In this way, the purpose of anti-interference is achieved. At the same time, it focuses on solving the motion state of industrial manipulator. For general industrial robots, its actuator, a gripper, should have the function of reaching any position and taking any direction in a certain space area. In other words, if a reference frame o 'is fixed on the center of the hand claw, the robot can send o' to any direction at any position in the space area. The position and direction of the gripper are determined by the amount of motion from the base to the gripper pairs. In addition, with the rapid development of the Internet, image has become a common form of information. This paper will use image recognition technology to provide the required detection data and reference values for the PID controller. Thus, the workspace of the industrial robot can be reflected more completely.

Learning Performance Graphs From Demonstrations via Task-Based Evaluations

In the paradigm of robot learning-from-demonstra tions (LfD), understanding and evaluating the demonstrated behaviors plays a critical role in extracting control policies for robots. Without this knowledge, a robot may infer incorrect reward functions that lead to undesirable or unsafe control policies. Prior work has used temporal logic specifications, manually ranked by human experts based on their importance, to learn reward functions from imperfect/suboptimal demonstrations. To overcome reliance on expert rankings, we propose a novel algorithm that learns from demonstrations, a partial ordering of provided specifications in the form of a performance graph. Through various experiments, including simulation of industrial mobile robots, we show that extracting reward functions with the learned graph results in robot policies similar to those generated with the manually specified orderings. We also show in a user study that the learned orderings match the orderings or rankings by participants for demonstrations in a simulated driving domain. These results show that we can accurately evaluate demonstrations with respect to provided task specifications from a small set of imperfect data with minimal expert input.

Dynamic Simulation Modeling of Industrial Robot Kinematics in Industry 4.0

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.

Research on Artificial Intelligence Robots and Simulation Software in Virtual Training Pendant

Under the background of artificial intelligence education, the application of RobotArt industrial robot simulation software in university teaching can make teaching “low carbon”, which not only saves training equipment, effectively reduces teaching costs, and greatly improves the learning efficiency of industrial robot programming. The thesis combines virtual simulation technology and practical operation in the training workshop to quickly improve the teaching effect, reduce the hidden safety hazards in the training process, and enable students to quickly grasp the key points of teaching, and at the same time, it can also reduce the teaching difficulty and work of the training teachers.

Workspace Analysis and Simulation of Industrial Robot Based on MATLAB

This paper discusses the method of solving forward and inverse kinematics of industrial robot in the simulation environment of MATLAB with Robotics toolkit. In order to prove the correctness of the solution of forward and inverse kinematics, we determine the final position of the given joint angle with forward kinematics first, and then use the final position result to determine the inverse kinematics. This paper includes discussion and simulation of joint space, displacement of each joint, angler velocity, smooth angler acceleration of robot. We divide the borderline of robot workspace on the XZ surface into five arcs, and generate arc borderline of the robot workspace. This paper proposes the nested loop method to determine the solution of robot workspace, since the calculated result is identical as the provided robot workspace from ABB (the robot company), we can prove the effectiveness and reliability of using MATLAB to solve robot workspace.

Innovation Education Research Based on Cross-object Interactive Robot Simulation Platform

China’s robot virtual experiment simulation education experiment teaching service platform was successfully constructed, it is an important pioneer and demonstrator of virtual experiment teaching. It is combined with the superior subject resources of the Robot Engineering major of Wuhan University of Science and Technology. This paper explains the necessity of cross-object interactive robot simulation experiment teaching. The experimental project of the industrial robot simulation module is combined with the teaching of related courses, the teaching system of the cross-object interactive robot virtual simulation experiment teaching platform is analysed. It is proposed that the virtual simulation platform can play a good role in innovating teaching resources in universities and cultivating innovative and entrepreneurial talents in universities.

Virtual simulation of communication between KUKA robot and PLC

Virtual simulation can effectively provide the training environment for the robot. It can solve many problems in robot practice, such as complex equipment, high price and so on. Virtual simulation and communication of KUKA robot can increase more possibilities. Based on the study of its trajectory planning and kinematics, this paper further increases the research content of virtual policy. This paper takes uniy3d virtual reality engine as the development platform, and studies the virtual motion simulation and control of industrial robot from the perspective of interaction between virtual robot and real robot,

AdaptPack studio translator: translating offline programming to real palletizing robots

PurposeThis paper aims to propose a translation library capable of generating robots proprietary code after their offline programming has been performed in a software application, named AdaptPack Studio, running over a robot simulation and offline programming software package.Design/methodology/approachThe translation library, named AdaptPack Studio Translator, is capable to generate proprietary code for the Asea Brown Boveri, FANUC, Keller und Knappich Augsburg and Yaskawa Motoman robot brands, after their offline programming has been performed in the AdaptPack Studio application.FindingsSimulation and real tests were performed showing an improvement in the creation, operation, modularity and flexibility of new robotic palletizing systems. In particular, it was verified that the time needed to perform these tasks significantly decreased.Practical implicationsThe design and setup of robotics palletizing systems are facilitated by an intuitive offline programming system and by a simple export command to the real robot, independent of its brand. In this way, industrial solutions can be developed faster, in this way, making companies more competitive.Originality/valueThe effort to build a robotic palletizing system is reduced by an intuitive offline programming system (AdaptPack Studio) and the capability to export command to the real robot using the AdaptPack Studio Translator. As a result, companies have an increase in competitiveness with a fast design framework. Furthermore, and to the best of the author’s knowledge, there is also no scientific publication formalizing and describing how to build the translators for industrial robot simulation and offline programming software packages, being this a pioneer publication in this area.

Inverse Kinematic Simulation of Industrial Robotic Manipulators Using RecurDyn and Matlab with Experiment Verification

The simulation and application of industrial robots has developed very quickly in recent decades. Along with the development of computer science, a lot of softwares to perform dynamic simulation have been created. The results of simulation can be used for layout evaluation, kinematic, dynamic study, off-line programming to avoid obstacle and for design mechanical structure of robots. A co-simulation of 2R industrial robots have been performed by Recurdyn and Matlab. The input parameters are executed under Matlab, and then exported to Recurdyn environment. Kinematic parameters will be executed by RecurDyn then exported to Matlab. The main tasks of this paper are performing 2R robotic manipulator kinematic simulation in two postures with the same trajectory and the same time. Thus, the result of simulation can be compared with theories. Finally, a real 2R robot model was used to verify the trajectory with CAE simulation.

An indirect method of industrial robot programming for machining tasks based on STEP-NC

ABSTRACTSTEP-NC is the next generation of data models between CAD/CAM and CNC systems and it aims at providing a digital thread for CNC manufacturing. After more than a decade of investigation, the STEP-NC technology is still underdeveloped. As the industrial robots are getting more and more capable of taking on machining operations, it is necessary to couple the robot for machining towards new STEP-NC standards. The paper presents an indirect method of industrial robot programming for machining tasks by applying standard ISO 10303–238. A methodology has been established to enable programming and simulation of industrial robots for machining, where information on the machining project is saved at a high information level in the STEP-NC format, which can be readily exchanged between different users for machining, either on machine tools or robots for machining. The methodology also includes the developed robot language converter for STEP-NC programme translation to robot programming language for machining tasks. Developed programming method verification has been performed by simulation in STEP-NC Machine environment using configured virtual robot and after that through several real experiments of drawing the toolpath in 3-axis machining tasks on available vertical articulated robot.

Analysing the effect of the use of 3D simulations on the performance of engineering students in a robotics course: Findings from a pilot study

During the last decade, students of mechanical engineering, electrical engineering, and mechatronics have been interested in studying robotics. It is a challenge for robotics course professors to get students to clearly understand the basic theoretical concepts for its correct application to solve problems, and to motivate them to achieve the best performance. Previous works proposed the use of 3D models to perform the simulation of industrial robots in class and consequently to reinforce the students’ theoretical and practical concepts. However, it has not yet been clearly demonstrated how the use of robots and simulations helps improve students’ academic performance. In this paper, the main contribution consists of a formal evaluation in which the comparison between the use of two teaching methods was carried out. In the first teaching method (traditional method), the professor used PowerPoint presentations and oral explanations to teach theoretical concepts and solve exercises (Group A). In the second teaching method, the professor added the use of 3D simulations together with the traditional method to teach theoretical concepts and solve exercises (Group B). Students of both groups performed the same written exam about forward kinematics in order to study and analyse the differences between the methodology used with Group A and the methodology used with Group B. This exam consisted of solving three exercises with different robot complexity levels. The results demonstrate that the performance of the students in group B is significantly better than that of the students in group A. In other words, the use of 3D simulations improves student’s academic performance, and provides a teaching tool to enhance the way the professors teach.

Kinematics simulation analysis and trajectory planning of a moving robot based on ADAMS

The study of kinematics modeling and simulation of industrial robots is the basis of robot development and optimization. According to the configuration characteristics of a moving robot, the coordinate system and the kinematics equation of the connecting rod are established based on the DH coordinate transformation method. The kinematics positive solution problem is solved in detail. The moving robot is established by the joint simulation of Solid works and ADAMS The motion model of the moving robot is verified by the kinematic analysis, and the displacement and angle curve of the end point are obtained. The rationality of the kinematics model of the moving robot is verified. The trajectory planning of the moving robot is carried out according to the actual situation, the results show that the moving robot is running smoothly and meets the requirements, which provides an important basis for the subsequent control research.

Virtual Designing of Robotic Workstations

The number of companies that decide to employ industrial robots to facilitate their production process is on the constant increase. Implementation of such solutions requires deep analysis of manifold aspects of such an endeavour. Apart from the economical face of the problem, there appear issues connected with integration of robots with the existing manufacturing infrastructure. Hence software enabling simulation and analysis of a robot work in the future environment is in demand. The following article is devoted to the problem of virtual designing of robotic workstations. The work presents basic information regarding application of robots in manufacturing companies and introduces typical software for simulation and programming of industrial robots. What is more, the process of designing a virtual environment and conducting analysis of robot work analysis is presented based on the laboratory set-up with Kawasaki RS003N robot. Finally, other examples of virtually designed robotic workstations are introduced.

A Method of Saddle Trajectory Simulation Based on ADAMS

Six degrees of freedom in this paper, by using the ADAMS software to realize the industrial robots can make any saddle trajectory simulation, and trajectory parameters, and it is easy to control the generated trajectory of the saddle shape, size and spatial position,which will improve the efficiency of the industrial robot simulation. The method of complex space curve simulation is generic, and can test the coordinate axis displacement, so the executing agency for the actual factory to avoid movement interference has a certain significance.

Research of Industrial Robot Simulation based on OpenGL

Research of Industrial Robot Simulation based on OpenGL

Kinematics Simulation of Industrial Robot Based on MATLAB

In this paper, we discussed the kinematics simulation of a six DOF (degree of freedom) industrial robot, modeling the robot with PRO/E. D-H coordinate transformation method is used to establish coordinates of robot kinematics mathematical model and the target matrix. The powerful symbolic computation of MATLAB functions is used to analyze the equation, and the inverse kinematics solution is obtained. The joint trajectory of the robot in the implementation of task and workspace are worked out through the forward kinematics solution.

A Study on Robot Motion Authoring System using Finger-Robot Interaction

Abstract – This paper proposes a robot motion authoring system using finger-robot interaction. The proposed robot motion authoring tool is a user-friendly method that easily authors creates and controls robot motion according to the number of fingers. Furthermore, the system can be used to simulate user-created robot contents in the 3D virtual environment. This allows the user to not only view the authoring process in real time but also transmit the final authored contents. The effectiveness of the proposed motion authoring system was verified based on motion authoring simulation of an industrial robot. Keywords : Finger-robot interaction, Industrial robot, Robot motion authoring system 1. Introduction With rapid developments in today's robot technology, robots have been used in a wide range of fields. As the increasing number of applications adopts intelligence, and thus robot requires a new type of robot software environment that allows user to author various commands for robots. However, robots must become easier to use for general users in order to expand the scope of applications of intelligent robots in our everyday life. Based on this request, a number of studies are being conducted regarding new types of user-friendly and intuitive robot motion authoring that can render various motions [1]-[4]. Also, there are research projects actively taking place in human-robot interaction, thanks to the progress that has been made in vision technology. A study is being conducted to develop a finger pad that can replace the computer mouse [5], and there are other studies proposing algorithms to improve hand gesture recognition [6]-[8]. However, user-intuitive or user-friendly robot command authoring tools that focus on facilitating general users are still rare. The lack of user-intuitive or user-friendly tools is likely to create a barrier for providing robot services (commands/motions) that correspond with the preferences and demands of general users including children, the elderly and housewives, who are expected to be the major clients in the service robot industry. This paper proposes a robot motion authoring system using finger-robot interaction. The proposed system is capable of authoring (creating and controlling) robot motion according to the number of fingers. It is an intuitive robot motion authoring method that allows the user to easily author robot motions. The effectiveness of the proposed method is verified based on motion authoring simulation of an actual industrial robot.

Technology and applications of ABB RobotStudio

PurposeThe purpose of this paper is to examine the capabilities, technological features and applications of a particular industrial robot simulation package.Design/methodology/approachThe paper begins with an introduction to the general characteristics and distinguishing technological features of RobotStudio. Next, there is a detailed study of how the tool is used by a company developing bespoke automation solutions, particularly in the food industry. Finally, the educational value of the software is addressed.FindingsRobotStudio is used to improve the efficiency and accuracy of robot programming and reduce downtime. It also has a role in remote maintenance and troubleshooting, risk management and education.Originality/valueA study of the approach and achievements of an automation integrator makes the technological features of the software easier to understand, in their proper context.

Model-Free Uncalibrated Visual Servoing Using Recursive Least Squares

In this paper, a model free uncalibrated visual servoing algorithm based on recursive least squares is proposed and discussed in depth. No robot kinetics or dynamics, camera calibration or target model to be tracked would be ever needed. Based on the brief retrospection of RLS filter as well as its theoretical analysis, i.e. Wiener-Hopf condition, the core uncalibrated visual servoing algorithm based on recursive least squares is explored in detail. The experimental results of both static and moving targets applied on a Puma-560 6DOFs industrial robot simulation verifies its performances.