dc.creator | Slavković, Nikola | |
dc.creator | Živanović, Saša | |
dc.creator | Dimić, Zoran | |
dc.creator | Vorkapić, Nikola | |
dc.date.accessioned | 2023-02-25T18:29:47Z | |
dc.date.available | 2023-02-25T18:29:47Z | |
dc.date.issued | 2022 | |
dc.identifier.isbn | 978-86-7466-930-3 | |
dc.identifier.uri | https://machinery.mas.bg.ac.rs/handle/123456789/4622 | |
dc.description.abstract | The development of integrated computing
environments provides opportunities for the development of
virtual production. Virtual simulation is crucial when the robot
performs tasks that include some manufacturing processes.
Virtual robots are used for program verification before sending
it to the real robot and enable collision checking between robot
segments themselves and the robot and its environment. Virtual
models of industrial robots could be configured in different
environments and ways. This paper presents the method for
configuring virtual robots as an integral part of the control
system. The virtual robot's configuration is realized under the
LinuxCNC software environment and relies on OpenGL and
several interface classes written in Python programming
language. Developing a robot kinematic model to implement a
virtual robot integrated with an open-architecture control system
is necessary. Models of robot segments were imported in ASCII
STL format and connected according to the robot kinematic
model, and then the virtual robot was integrated within the
LinuxCNC control system. The method for configuring a virtual
robot as well as its kinematic model is presented in the example
of the BiSCARA robot. Verifying the robot control system,
virtual model, and kinematic model has been performed through
several examples of drawing contours on the configured virtual
robot. | sr |
dc.language.iso | en | sr |
dc.publisher | Novi Pazar : State University | sr |
dc.relation | info:eu-repo/grantAgreement/MESTD/Technological Development (TD or TR)/35022/RS// | sr |
dc.relation | info:eu-repo/grantAgreement/ScienceFundRS/AI/6523109/RS// | sr |
dc.rights | openAccess | sr |
dc.rights.uri | https://creativecommons.org/licenses/by/4.0/ | |
dc.source | 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia | sr |
dc.subject | Virtual robots | sr |
dc.subject | Control system | sr |
dc.subject | Robot simulations | sr |
dc.subject | Kinematic modeling | sr |
dc.title | Method for Configuring Virtual Robot as an Integral Part of the Control System | sr |
dc.type | conferenceObject | sr |
dc.rights.license | BY | sr |
dc.citation.epage | 644 | |
dc.citation.rank | M33 | |
dc.citation.spage | 639 | |
dc.identifier.fulltext | http://machinery.mas.bg.ac.rs/bitstream/id/11124/2022_IcETRAN.pdf | |
dc.identifier.rcub | https://hdl.handle.net/21.15107/rcub_machinery_4622 | |
dc.type.version | publishedVersion | sr |