Title: Study on virtual environment-based simulation, control and teleoperation in the application of robotic machining and manipulation

Authors: Jiang Zhu, Tomohisa Tanaka, Yoshio Saito, Lining Sun

Addresses: Department of Mechanical and Control Engineering, Tokyo Institute of Technology, I1-35, 2-12-1, O-okayama, Mekuro, Tokyo, Japan. ' Department of Mechanical and Control Engineering, Tokyo Institute of Technology, I1-35, 2-12-1, O-okayama, Mekuro, Tokyo, Japan. ' Department of Mechanical and Control Engineering, Tokyo Institute of Technology, I1-35, 2-12-1, O-okayama, Mekuro, Tokyo, Japan. ' School of Mechatronics Engineering, Harbin Institute of Technology, No. 92, West-dazhi Street, Harbin, China

Abstract: Recently, virtual reality (VR) has become one of the hottest research areas in information technology (IT) industry and engineering industry. VR technology is beneficial to robotic researches in many areas. In this paper, the general framework for constructing a virtual environment for robotic applications is presented. The key technologies of VR for the application in robotic machining and manipulation are discussed. Material removal model, collision detection model, and collision response model in virtual environment are discussed through case studies. And some practical application examples, which are developed using the proposed VR methodology, are presented.

Keywords: robotics; robot machining; robot manipulation; robot simulation; micromanipulation; teleoperation; virtual reality; VR; modelling; material removal; collision detection; collision response; robot control.

DOI: 10.1504/IJDE.2010.039757

International Journal of Design Engineering, 2010 Vol.3 No.3, pp.218 - 231

Available online: 18 Apr 2011 *

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