Computer-aided robot modeling, programming and simulation

Robotics, 1986

A simulation system is described which supports programming of robot based manufacturing processes. A CAD system is used for geometric modelling. The system allows modelling of different object classes like robots, end-effectors, sensors, workpieces as well as the robot's environment. Control functions on different control hierarchies in the manufacturing system can be emulated. The emulation of the virtual robots is displayed graphically. Analysis and evaluation methods are applied to detect errors and conflicts in the simulated manufacturing process with the purpose of optimizing the program.

In this paper the basic functions of software systems for Computer Aided Design of industrial robots are formulated and discussed. The paper is result of authors experience on creating of CINDY system desidned for computer simulation of industrial robots and SYANA system for dynamics analytical modelling of them.

Engineering for Rural Development, 2019

The paper shows and compares the functional features of off-line software environments of selected manufacturers of industrial robots. These softwares used for modelling, programming and simulation of robotic workcells are created for industrial and service needs (e.g. agricultural services), or simulation use of robots adapted to cooperate with humans. The use of such solutions greatly improves the assessment of the safety and exploitation conditions of robotic systems in various areas and aspects of life. It gives the investor an opportunity to make an opinion on the economic and social aspects of using robots in the manufacturing and service sector, too. Such systems (in particular Festo COSIMIR ® and ROS programs described in the paper) are becoming an important element of the so-called Industry 4.0, so you should have knowledge about them.

Robotics and Autonomous Systems, 2011

This paper presents an interactive Java software platform which enables users to easily create advanced robotic applications together with computer vision processing. This novel tool is composed of two layers: 1) Easy Java Simulations (EJS), an open-source tool which provides support for creating applications with a full 2D/3D interactive graphical interface, and 2) EjsRL, a high-level Java library specifically designed for EJS which provides a complete functional framework for modeling and simulation of arbitrary serial-link manipulators, computer vision algorithms and remote operation. The combination of both components sets up a software architecture which contains a high number of functionalities in the same platform to develop complex simulations in robotics and computer vision fields. In addition, the paper shows its successful application to virtual and remote laboratories, web-based resources that enhance the accessibility of experimental setups for education and research.

2012

Purpose-The purpose of this paper is to present a CAD-based human-robot interface that allows non-expert users to teach a robot in a manner similar to that used by humans to teach each other. Another important issue addressed here has to do with how robots deal with uncertainty. Design/methodology/approach-Intuitive robot programming is achieved by using CAD drawings to generate robot programs off-line. Sensory feedback allows minimization of the effects of uncertainty, providing information to adjust the robot paths during robot operation. Findings-It was found that it is possible to generate a robot program from a common CAD drawing and run it without any major concerns about calibration or CAD model accuracy. Research limitations/implications-A limitation of the proposed system has to do with the fact that it was designed to be used for particular technological applications. Practical implications-Since today most of the manufacturing companies have CAD packages in their facilities, CAD-based robot programming may be a good option to program robots without the need for skilled robot programmers. Originality/value-A new CAD-based robot programming system is proposed. Robot programs are directly generated from a CAD drawing "running" on a commonly available 3D CAD package and not from a commercial computer aided robotics software, making it a simple CAD integrated solution. This is a low-cost and low-setup time system where no advanced robot programming skills are required to operate it.

A simulation package CINDY for robot work cell design is presented. The software includes synthesis and analysis of robot systems. It gives an opportunity to create, analyze, and edit 3-dimensional cell descriptions: the robot, tooling, parts, end effectors, NC equipment, etc. Robot and equipment solid models are designed using ARCHIMED geometrical modeling system. The inverse kinematics problem and motion planning is solved for hyper-redundant manipulators. Path planning allows local minimum avoidance and complex path following with joint reconfiguration.

Robot Manipulators Trends and Development, 2010

2006

Robotics and Autonomous Systems, 2013

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package, Autodesk Inventor. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract that motion data from the drawing, mapping it from the virtual (CAD model) to the real scenario and the process of automatic generation of robot programs. This study aims to create a CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics and thus contribute to increase the number of existing robots. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach.

Robotics, 1987

The work of the Industrial Robot Destgn Research Group workang at the Umvermy of Genoa, Italy, ts summarized The reasons for developing speoal-purpose CAD codes are noted, together w~th a d~scusslon of the approach that has been uuhzed An example procedure concerning the selecUon of the controlling strategtes ts presented, wath typtcal output results The integration of the robotic devices into manufacturing lines ts &scussed wtth an mdacatlon of the computaUonal codes presently under development

MATEC Web of Conferences, 2016

This paper presents IRoSim: Industrial Robotics Simulation Design Planning and Optimization platform which we developed based on SolidWorks API. The main objective is to integrate features from mechanical and robotics CAD software into the same platform in order to facilitate the development process through a friendly interaction interface. The platform provides important steps to develop a given robotized task such as: defining a given task, CAD learning of the end-effectors' trajectory, checking the manipulator's reach-ability to perform a task, simulating the motion and preventing the trajectory from possible collisions. To assess the usability of the proposed platform, a car's doors painting task using a 6 Degree Of Freedom industrial manipulator has been developed.

2010

IEEE Control Systems Society Workshop on Computer-Aided Control System Design

An integrated robot design and simulation system is presented. The system provides the user with a specially developed descriptive language that allows the design of robots and workcells of the user'schoice. An integrated simulation environment, IRODESS allows the user to implement and test controls of hidher choice in a simple manner. The system provides with animation that can display the 3-D movement of a single or multiple robots in a workcell, and trace their trajectories.

Graphical simulation is a cost-effective solution for developing and testing robots and their control systems. The availability of various high-performance workstations makes these systems feasible in everyday practice. Simulation offers preliminary testing of systems before their actual realizations, and it provides a framework for developing new control and planning algorithms. On the other hand, these simulation systems have to have the capability of incorporating various knowledge-based system components, e.9. task planners, representation formalisms, etc. They also should have an appropriate user interface, which makes possible the creation and control of simulation models. ROBOSIM was developed jointly by MSFC and Vanderbilt University, first in a VAX environment. Recently, the system has been ported to an HP-9000 workstation equipped with an SRX graphics accelerator. The user interface of the system now contains a menu-and icon-based facility, as well as the original ROBOSIM language. The system is also coupled to a symbolic computing system based on Common Lisp, where knowledge-based functionalities are implemented. The knowledge-based layer uses various representation and reasoning facilities for programming and testing the control systems of robots.

2005

This paper presents the development of a software application for Off-line robot task programming and simulation. Such application is designed to assist in robot task planning and to direct manipulator motion on sensor based programmed motion. The concept of the designed programming application is to use the power of the knowledge base for task accumulation. In support of the programming means, an interactive graphical simulation for manipulator kinematics was also developed and integrated into the application as the complimentary factor to the robot programming media. The simulation provides the designer with useful, inexpensive, off-line tools for retain and testing robotics work cells and automated assembly lines for various industrial applications.