Method for Configuring Virtual Robot as an Integral Part of the Control System
Апстракт
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 a...ccording 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.
Кључне речи:
Virtual robots / Control system / Robot simulations / Kinematic modelingИзвор:
9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia, 2022, 639-644Издавач:
- Novi Pazar : State University
Финансирање / пројекти:
- Развој нове генерације домаћих обрадних система (RS-MESTD-Technological Development (TD or TR)-35022)
- MISSION4.0 - Deep Machine Learning and Swarm Intelligence-Based Optimization Algorithms for Control and Scheduling of Cyber-Physical Systems in Industry 4.0 (RS-ScienceFundRS-AI-6523109)
Колекције
Институција/група
Mašinski fakultetTY - CONF AU - Slavković, Nikola AU - Živanović, Saša AU - Dimić, Zoran AU - Vorkapić, Nikola PY - 2022 UR - https://machinery.mas.bg.ac.rs/handle/123456789/4622 AB - 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. PB - Novi Pazar : State University C3 - 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia T1 - Method for Configuring Virtual Robot as an Integral Part of the Control System EP - 644 SP - 639 UR - https://hdl.handle.net/21.15107/rcub_machinery_4622 ER -
@conference{ author = "Slavković, Nikola and Živanović, Saša and Dimić, Zoran and Vorkapić, Nikola", year = "2022", 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.", publisher = "Novi Pazar : State University", journal = "9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia", title = "Method for Configuring Virtual Robot as an Integral Part of the Control System", pages = "644-639", url = "https://hdl.handle.net/21.15107/rcub_machinery_4622" }
Slavković, N., Živanović, S., Dimić, Z.,& Vorkapić, N.. (2022). Method for Configuring Virtual Robot as an Integral Part of the Control System. in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia Novi Pazar : State University., 639-644. https://hdl.handle.net/21.15107/rcub_machinery_4622
Slavković N, Živanović S, Dimić Z, Vorkapić N. Method for Configuring Virtual Robot as an Integral Part of the Control System. in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia. 2022;:639-644. https://hdl.handle.net/21.15107/rcub_machinery_4622 .
Slavković, Nikola, Živanović, Saša, Dimić, Zoran, Vorkapić, Nikola, "Method for Configuring Virtual Robot as an Integral Part of the Control System" in 9TH International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2022, 6-9 June 2022, Novi Pazar, Serbia (2022):639-644, https://hdl.handle.net/21.15107/rcub_machinery_4622 .