Authors: X.V. Gogouvitis; G-C. Vosniakos
Addresses: School of Mechanical Engineering, National Technical University of Athens, Heroon Polytehneiou 9, 15780 Athens, Greece ' School of Mechanical Engineering, National Technical University of Athens, Heroon Polytehneiou 9, 15780 Athens, Greece
Abstract: This paper describes the approach, algorithms, tools and implementation regarding construction from scratch of a simulation environment for robotic manufacturing cells following the virtual reality paradigm. A semantic model of robots ensures generality of the system, whereas fundamental robotics algorithms can be built into the environment, examples implemented concerning inverse kinematics for robotic arms with six rotary axes (6R), fast collision detection based on bounding boxes and interactive trajectory planning. The environment was developed in C++ making use of an open 3D graphics interface and a cross-platform user interface framework supporting different setups, i.e., enhanced desktop (monitor, head-mounted display, glove) and hybrid wall (monitor, projector, game-type remote controller). Objects involved are virtual reality modelling language (VRML) versions of models originally designed in conventional 3D computer-aided design (CAD) systems. A sample application covering the design and training domains is demonstrated corresponding to selecting, positioning and programming a 6R robotic arm tending a turning centre.
Keywords: virtual reality; robotic cells; manufacturing cells; collision detection; robot kinematics; trajectory planning; semantic modelling; robot trajectories; cellular manufacturing; simulation; inverse kinematics; VMRL; 3D CAD; turning centres.
International Journal of Computer Applications in Technology, 2015 Vol.51 No.3, pp.173 - 184
Received: 08 May 2021
Accepted: 12 May 2021
Published online: 11 May 2015 *