Robot Simulation System Research Articles

Acceptability of a Robotic Hysterectomy Simulation System - Who Is the Target Audience?

Study Objective To assess acceptability of the Simbionix (3D) Hysterectomy Modules for the DaVinci Xi simulation system. These simulation modules became available in 2017. Little validation evidence exists to guide incorporation of this tool into surgical education. Design Prospective cohort. Setting Multi-center, academic medical institutions. Patients or Participants Residents, fellows, and faculty in Obstetrics and Gynecology were invited to participate at 3 institutions. Participants were categorized by experience level: less than 10 hysterectomies (novice), 10 to 49 hysterectomies (intermediate), and 50 or greater hysterectomies (expert). A total of 10 novice, 9 intermediate, and 15 expert surgeons were included. Interventions Participants completed 4 simulator modules (ureter identification, bladder flap development, colpotomy, and complete hysterectomy) and a qualitative survey assessing agreement or disagreement with evaluative statements using a Likert scale. Measurements and Main Results The majority felt the simulator realistically simulated robotic hysterectomy (64.7%) and that it should be used to provide feedback to residents (67.6%). The majority thought the feedback provided by the simulator was as or more helpful than feedback from previous surgical simulations (88.2%) but less helpful than feedback provided in the operating room (73.5%). The majority agreed that residents should be required to pass modules prior to completing a robotic hysterectomy as a primary surgeon (52.9%), but disagreed that they should be used for licensing purposes (58.8%). There were no significant differences in opinion between experience levels (p-value >0.05 for all questions using Fisher's exact test). Participants felt this simulator would be helpful for teaching general steps to junior residents. Conclusion Simbionix (3D) Hysterectomy Modules were well received by subjects of all experience levels. Subjects identified early residency education as an area where this tool can be used to provide feedback and determine readiness to perform robotic hysterectomy. Feedback from the simulator was not felt to replace real-time, clinical feedback. Further study is needed to determine its role in surgical training.

Development of a Robotic Structural Steel Cutting System

Curved buildings and structures are getting popular and digital fabrication of the structural steels has been successfully tried in several ways. This study presents a development of a robotic system cutting structural steels and marking texts on the steels using digital information of shapes. A configuration of the overall system is explained based on functional decomposition of conventional cutting systems. The cutting system consists of a robotic system and a handling system, and the main functions of the cutting system are classified as translation, orientation, alignment, and cutting. A digital model of the system was created and tested in a robot simulation system. A robot tool-path generation system was also developed. The tool-path generation system uses the DSTV file, an industry standard for the shape of a structural steel, to generate robot job files. This study also provides robot workspaces in which the cutting tool can safely access and cut the workpieces. The proposed system was tested for cutting structural steels clamped in front of the robot. The results show that the generated tool-paths are valid in cutting the structural steel and the possibility of an overall robotic system for cutting structural steels.

System identification of the nonlinear residual errors of an industrial robot using massive measurements

Abstract In this paper, an industrial robot is calibrated by identifying the nonlinear residual errors from massively measured tool positions using a laser tracker. A fully automatic measuring system is developed to collect more than 10,000 robot configurations in an efficient manner, which communicates with the robot controller and the laser tracker in real time. The robot configurations are programmed using a laser traceable path planning algorithm, which ensures the tool positions always locate in the expected envelope and the mirror ball keeps aligning against the laser tracker without occlusion. Afterwards, the robot motion control program is automatically generated using a robot simulation and off-line programming system. In order to obtain relatively higher positioning accuracy and less computation time, the off-line calibration procedure is subdivided into two steps. The first step solves the significant structural errors using the model-based parametric calibration. The second step further identifies the nonlinear residual errors using a deep neural network (DNN), so that the deviations related to different robot configurations can be reduced and the overall workspace accuracy can be improved to a much higher level. After calibration, the mean/maximum positioning errors in the measured envelope are reduced from 1.81 mm/1.96 mm, respectively, to 0.10 mm/0.22 mm. The calibrated model is eventually integrated into the off-line programming system, and effectively compensate a robot welding trajectory.

A real-time, high fidelity dynamic simulation platform for hexapod robots on soft terrain

Dynamic simulation is an important aspect of legged robotic research, which is essential for its design and control. However, the dynamics of the interaction between a soft terrain and a deformable leg (e.g., a spring) is hardly taken into account. In this paper, a high-fidelity, faster-than-real-time simulation system for hexapod robots has been developed based on Vortex. Foot-terrain interaction mechanics and flexible mechanical system are taken into account in order to improve the simulation precision. A general foot-terrain interaction model is presented based on terramechanics. Pseudo-rigid-body method is used to simulate the flexibility of the robot. A speed test shows that the simulation system is capable of real-time or faster simulation. The simulation system's fidelity was validated using two hexapod robots, which is found to be greater than 90%.

Open source hardware and software platform for robotics and artificial intelligence applications

Recent developments in open source hardware and software platforms (Android, Arduino, Linux, OpenCV etc.) have enabled rapid development of previously expensive and sophisticated system within a lower budget and flatter learning curves for developers. Using these platform, we designed and developed a Java-based 3D robotic simulation system, with graph database, which is integrated in online and offline modes with an Android-Arduino based rubbish picking remote control car. The combination of the open source hardware and software system created a flexible and expandable platform for further developments in the future, both in the software and hardware areas, in particular in combination with graph database for artificial intelligence, as well as more sophisticated hardware, such as legged or humanoid robots.

Analysis hierarchical model for discrete event systems

The This paper presents the hierarchical model based on discrete event network for robotic systems. Based on the hierarchical approach, Petri network is analysed as a network of the highest conceptual level and the lowest level of local control. For modelling and control of complex robotic systems using extended Petri nets.Such a system is structured, controlled and analysed in this paper by using Visual Object Net ++ package that is relatively simple and easy to use, and the results are shown as representations easy to interpret. The hierarchical structure of the robotic system is implemented on computers analysed using specialized programs.Implementation of hierarchical model discrete event systems, as a real-time operating system on a computer network connected via a serial bus is possible, where each computer is dedicated to local and Petri model of a subsystem global robotic system. Since Petri models are simplified to apply general computers, analysis, modelling, complex manufacturing systems control can be achieved using Petri nets. Discrete event systems is a pragmatic tool for modelling industrial systems. For system modelling using Petri nets because we have our system where discrete event. To highlight the auxiliary time Petri model using transport stream divided into hierarchical levels and sections are analysed successively. Proposed robotic system simulation using timed Petri, offers the opportunity to view the robotic time. Application of goods or robotic and transmission times obtained by measuring spot is obtained graphics showing the average time for transport activity, using the parameters sets of finished products. individually.

Design of Simulation for Arc Welding Robot Based on OpenGL

Through the design and analysis of arc welding robot simulation system, the theory and method for establish 3D simulation system based on OpenGL in VC++.NET’s development platform was Expounded. In this paper, The kinematics model of 5 degree of freedoms arc welding robot is established and the equation straight and the inverse operation is provided and the 3D of the robot real-time simulation is realized. The test results show that, the system has friendly interface and achieved good simulation effect.

Lego Mindstorms as a Simulation of Robotic Systems

Lego Mindstorms as a Simulation of Robotic Systems

A STEP-compliant Industrial Robot Data Model for robot off-line programming systems

Recently, various robot off-line programming systems have promoted their own robot data models, resulting in a plethora of robot representation methods and unchangeable data files among CAx and robot off-line programming systems. The current paper represents a STEP-compliant Industrial Robot Data Model (IRDM) for data exchange between CAx systems and robot off-line programming systems. Using this novel representation method, most resources involved in a robot manufacturing system can be represented. The geometric and mathematic aspects of industrial robots have been defined in IRDM, so that the robot off-line programming system could have abundant information to represent robots’ kinematic and dynamic behaviors. In order to validate the proposed models and approaches, a prototype robot off-line programming system with 3D virtual environment is presented. The functionalities of IRDM not only have significant meaning for providing a unified data platform for robot simulation systems, but also have the potential capability to represent robot language using the object-oriented concept.

Dynamics Analysis and Simulation on Load-Unload Bagged Materials Robot

The dynamics is important for the robot system simulation and feedback control design, so the dynamics of load-unload bagged materials robot is analyzed based on the second kind Lagrange theory, and the precise dynamics model is established. The solution of dynamics differential equations are solved by procedure matlab, dynamics Simulation is analyzed based on platform of ADMAS dummy prototype, obtain series of graph angular acceleration, driving force, moment.

A Robot Simulation System for Self-Location by Using Field Visual Information

This Paper will introduce methods used to resolve self-location problem of humanoid robots. There are two method that will be mentioned in this paper. A traditional method which uses marks and flags on the soccer field for robot location will be introduced at first. This paper will also discuss how to solve the singularity problem in traditional self-location method. The optimization self-location method which uses sidelines on the soccer field will be introduced at the same time. This paper will introduce how to mapping the field sidelines in vision to the field sidelines of soccer field. This method is implemented and tested in Robocup 3D Soccer Simulation League. The results show that the accuracy of self-location method will be increased by taking full use of soccer field sidelines in vision information.

Application of NSTRSS in Mobile Robot Obstacle Avoidance Simulation

Mobile robot becomes more and more perfect with people research continuously, obstacle avoidance is one of the most basic function in the process of operation. At present, the robot simulation system is an important tool of researching robot. In this paper, hardware design and software design were done by NSTRSS and real-time dynamic obstacle avoidance simulation of mobile robot is completed successfully. The experimental result shows that the simulation has 3D scene, lively effect and a good operation interface.

Modelling and Simulation of Robotic Systems using SYSML

This paper proposes a modelling and simulation framework to assist robotic systems design from the viewpoints of systems and control engineering. Designing such systems requires proper design and simulation tools. From control engineers perspectives, the design of control dynamic systems works well using a model-based design (MBD) approach with a simulation tool, e.g., Matlab/Simulink but they lack understanding of how to provide formal specifications, which leads to unmanageable system specifications. In contrast, systems engineers are capable of preparing those specifications in a most feasible way from the conceptual design to the detailed design. Subsequently, system designs and specifications that usually expressed using systems modelling language (SysML) are disjoint with executable simulations employed in Matlab/Simulink. The objective of this paper is to achieve executable simulations in the Matlab’s Simulink extension based on SysML’s descriptive designs and specifications. To achieve that, we consider a design integration and synchronization strategy, and we use a mobile robotic system (MRS) to establish the proposed framework.

Kinematic Modeling and Simulation of a 2-R Robot by Using Solid Works and Verification by MATLAB/Simulink

Simulation of robot systems which is getting very popular, especially with the lowering cost of computers, can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. Object staging modelisation using robots holds, wether for the object or the robot, the following models: The geometric one, the kinematics one and the dynamic one. To do so, the modelisation of a 2-R robot type is being implemented. Comparing between two robot postures with the same trajectory (path) and for the same length of time and establishing a computing code to obtain the kinematic and dynamic parameters are the main tasks. SolidWorks and Matlab/Simulink softwares are used to check the theory and the robot motion simulation. The verification of the obtained results by both softwares allows us to, qualitatively evaluate ,underline the rightness of the chosen model and to get the right conclusions. The results of simulations were discussed. An agreement between the two softwares is certainly Obtained. DOI: http://dx.doi.org/10.11591/ijra.v1i2.350

A Robotic Manipulator Control and Simulation System with Qt and VTK

In this paper, we present an object-oriented C++ library for robotic manipulator control and simulation, THRControl, which is inherited from Qt and VTK. The library package has advantages include support cross-platform applications; high flexibility and high computational efficiency meet the need of computations required in robot control such as forward kinematics, inverse dynamics, and jacobian. The experimental results show that it is very easy is construct a user-friendly manipulator control and simulation system.

Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink

The simulation of robot systems is becoming very popular, especially with the lowering of the cost of computers, and it can be used for layout evaluation, feasibility studies, presentations with animation and off-line programming. The trajectory planning of redundant manipulators is a very active area since many tasks require special characteristics to be satisfied. The importance of redundant manipulators has increased over the last two decades because of the possibility of avoiding singularities as well as obstacles within the course of motion. The angle that the last link of a 2 DOF manipulator makes with the x-axis is required in order to find the solution for the inverse kinematics problem. This angle could be optimized with respect to a given specified key factor (time, velocity, torques) while the end-effector performs a chosen trajectory (i.e., avoiding an obstacle) in the task space. Modeling and simulation of robots could be achieved using either of the following models: the geometrical model (positions, postures), the kinematic model and the dynamic model. To do so, the modelization of a 2-R robot type is implemented. Our main tasks are comparing two robot postures with the same trajectory (path) and for the same length of time, and establishing a computing code to obtain the kinematic and dynamic parameters. SolidWorks and MATLAB/Simulink softwares are used to check the theory and the robot motion simulation. This could be easily generalized to a 3-R robot and possibly therefore to any serial robot (Scara, Puma, etc.). The verification of the obtained results by both softwares allows us to qualitatively evaluate and underline the validityof the chosen model and obtain the right conclusions. The results of the simulations are discussed and an agreement between the two softwares is certainly obtained.

Modelling and simulation of a SCARA robot using solid dynamics and verification by MATLAB/Simulink

A complete mathematical model of SCARA robot was developed and presented in this paper including servomotor dynamics and dynamics simulation. The equations of motion were derived by using Lagrangian mechanics. Direct current (DC) servomotor driving each robot joint was studied and modelled. SCARA robot was constructed to achieve drilling operation using solid dynamics (SD) software. The performance of the robot-actuator system was examined with solid dynamic simulation and verified with MATLAB/Simulink. The results of simulations were discussed. The facilities of the programmes (investigate, design, visualise, and test an object even if it does not exists) used for kinematic and dynamic simulation of robot systems were emphasised.

An Efficient Method of Constructing Open 3D Simulation Environment for Articulated Robot

An efficient method for constructing an open 3D robot simulation environment is presented.Based on the platform of Matlab software,this method integrates the 3D solid design softwares such as Pro/E,Matlab Robot Toolbox and Matlab 3D visualization technology to construct a 3D robot simulation environment with good visualization and highly detailed model.Taking widely applied VA1400 arc welding robot as an example,steps of this method are presented in detail,including the construction of 3D robot model,data importation of solid model and 3D animation display of the simulation system.Thereafter,a high-level open robot simulation system with good 3D visualization is achieved.Snapshots and simulation graphs are presented,which prove the effectiveness of our method.

A new procedure for multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control: implementation and analysis

This is the second of a two-part paper that investigates the multi-mode sequential flocking with application to multiple non-holonomic mobile robot motion control. In this part, a multiple mobile robotsimulation system based on MuRoS is used to simulate the real multiple mobile robots running environment. Furthermore, an analysis method of the flocking system based on ‘minimum stable time’ is proposed, which can be employed to analyse the performance of multi-mode sequential flocking of mobile robots team. At last, bench tests have been comprehensively conducted to demonstrate the efficacy of the proposed procedures on efficient collision and obstacle avoidance in flocking motion, which were described in the first part.

Modular Robotic System for Moving Inside of Pipelines - Part 2

This paper deals with aspects related to modeling, simulation and development of the drive and control systems for a modular robotic system for inspection and exploration. In the first part of the paper the proposed robotic system model is presented. In the second part of the paper the robotic system simulation in MATLAB / Simulink is presented, obtaining the necessary data to dimension the actuators. The command and control developed systems are presented in the end of the paper.