Method for Configuring Virtual Robot as an Integral Part of the Control System

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.