Augmented reality-based programming, planning and simulation of a robotic work cell

Pai, Y.S. and Yap, H.J. and Singh, R. (2015) Augmented reality-based programming, planning and simulation of a robotic work cell. Proceedings of the Institution of Mechanical Engineers Part B-Journal of Engineering Manufacture, 229 (6). pp. 1029-1045. ISSN 0954-4054

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Abstract

In this article, the development of an augmented reality-based robotic work cell is presented, consisting of a virtual robot arm, conveyor belt, pallet and computer numerical control machine that simulates an actual manufacturing plant environment. The kinematics of the robot arm is realized using Denavit-Hartenberg's theorem, which enables complete manipulation of the end-effector in three-dimensional space when interacting with other virtual machines. Collision detection is implemented in two areas, namely, modifiable marker-based detection for the robot arm, which detects nearby obstacles as well as integration with object manipulation to pick and place a virtual object around the environment. In addition, an augmented heads-up display overlay displays live information of the current system. The case studies suggest that the proposed system can simulate a collision-free operation while displaying the coordinates of the virtual object, current tool equipped and speed of the conveyor belt, with a percentage error of less than 5.

Item Type: Article
Additional Information: ISI Document Delivery No.: CH4FV Times Cited: 0 Cited Reference Count: 32 Cited References: Bourdot P, 2010, COMPUT AIDED DESIGN, V42, P445, DOI 10.1016/j.cad.2008.10.014 Broeders IAMJ, 2014, BEST PRACT RES CL GA, V28, P225, DOI 10.1016/j.bpg.2013.12.001 Chong JWS, 2009, ROBOT CIM-INT MANUF, V25, P689, DOI 10.1016/j.rcim.2008.05.002 Edward Angel DS, 2012, INTERACTIVE COMPUTER Fang HC, 2012, ROBOT CIM-INT MANUF, V28, P227, DOI 10.1016/j.rcim.2011.09.003 Fang HC, 2012, PROC CIRP, V3, P191, DOI 10.1016/j.procir.2012.07.034 Gilad L, 1995, IND ROBOT, V22, P16 Girbacia F, 2012, APPL MECH MATER, V162, P344, DOI 10.4028/www.scientific.net/AMM.162.344 Ha T, 2012, INTERACT COMPUT, V24, P10, DOI 10.1016/j.intcom.2011.06.006 Jonietz E, 2007, MIT TECHNOLOGY REV Kato H, 2000, IEEE AND ACM INTERNATIONAL SYMPOSIUM ON AUGMENTED REALITY, PROCEEDING, P111 KUKA, 2004, KR 16 2 KS F SPEC KU Lambrecht J, 2013, INT J ADV ROBOT SYST, V10 Lee JW, 2011, COMPUT IND, V62, P86, DOI 10.1016/j.compind.2010.07.001 Lee YG, 2010, COMPUT AIDED DESIGN, V42, P387, DOI 10.1016/j.cad.2009.11.003 Leebmann J, 2003, ISPRS J PHOTOGRAMM, V57, P400, DOI 10.1016/S0924-2716(02)00168-5 Mahdjoub M, 2010, COMPUT AIDED DESIGN, V42, P402, DOI 10.1016/j.cad.2009.02.009 McGarrity E., 1999, Proceedings 2nd IEEE and ACM International Workshop on Augmented Reality (IWAR'99), DOI 10.1109/IWAR.1999.803808 Muelaner JE, 2010, MEAS SCI TECHNOL, V21, DOI 10.1088/0957-0233/21/2/025106 Novak-Marcincin J, 2012, INT J ADV ROBOT SYST, V9, DOI 10.5772/50978 Ong SK, 2006, P 4 INT C COMP GRAPH, P237 Ong SK, 2010, ROBOT CIM-INT MANUF, V26, P240, DOI 10.1016/j.rcim.2009.11.003 Pan ZX, 2012, ROBOT CIM-INT MANUF, V28, P87, DOI 10.1016/j.rcim.2011.08.004 Pati S, 2013, PROC SPIE, V8671, DOI 10.1117/12.2006776 Rocha CR, 2011, ROBOT CIM-INT MANUF, V27, P723, DOI 10.1016/j.rcim.2010.12.009 Ruperez MJ, 2010, COMPUT AIDED DESIGN, V42, P425, DOI 10.1016/j.cad.2009.09.003 STEINPARZ FX, 1985, J MICROCOMPUT APPL, V8, P303, DOI 10.1016/0745-7138(85)90031-4 Talaba D, 2010, COMPUT AIDED DESIGN, V42, P361, DOI 10.1016/j.cad.2010.01.001 Uva AE, 2010, COMPUT AIDED DESIGN, V42, P364, DOI 10.1016/j.cad.2008.10.015 Wang Pengjie, 2011, 2011 International Conference on Multimedia Technology Wang Q., 2007, International Journal of Industrial and Systems Engineering, V2, DOI 10.1504/IJISE.2007.011927 Wright R. S., 2010, OPENGL SUPERBIBLE CO Pai, Yun Suen Yap, Hwa Jen Singh, Ramesh YAP, HWA JEN/C-1065-2010; Engineering, Faculty /I-7935-2015 Engineering, Faculty /0000-0002-4848-7052 University of Malaya Research Collaborative Grant Scheme (PRP-UM) CG006-2013 This study was financially supported by the University of Malaya Research Collaborative Grant Scheme (PRP-UM) Grant No.: CG006-2013. 0 SAGE PUBLICATIONS LTD LONDON P I MECH ENG B-J ENG
Uncontrolled Keywords: Augmented reality, robotic work cell, kinematics, collision detection, heads-up display, robot simulation, path,
Subjects: T Technology > T Technology (General)
T Technology > TJ Mechanical engineering and machinery
Divisions: Faculty of Engineering
Depositing User: Mr Jenal S
Date Deposited: 09 Jun 2016 00:29
Last Modified: 28 Sep 2018 03:25
URI: http://eprints.um.edu.my/id/eprint/15841

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