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

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 D...

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Main Authors: Pai, Y.S., Yap, H.J., Singh, R.
Format: Article
Language:English
Published: 2015
Subjects:
T Technology (General)
TJ Mechanical engineering and machinery
Online Access:http://eprints.um.edu.my/15841/1/Augmented_reality-based_programming%2C_planning_and_simulation_of_a_robotic.pdf
http://eprints.um.edu.my/15841/
http://pib.sagepub.com/content/229/6/1029
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spelling my.um.eprints.158412018-09-28T03:25:49Z http://eprints.um.edu.my/15841/ Augmented reality-based programming, planning and simulation of a robotic work cell Pai, Y.S. Yap, H.J. Singh, R. T Technology (General) TJ Mechanical engineering and machinery 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. 2015-06 Article PeerReviewed application/pdf en http://eprints.um.edu.my/15841/1/Augmented_reality-based_programming%2C_planning_and_simulation_of_a_robotic.pdf 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 http://pib.sagepub.com/content/229/6/1029 10.1177/0954405414534642
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Research Repository
url_provider http://eprints.um.edu.my/
language English
topic T Technology (General)
TJ Mechanical engineering and machinery
spellingShingle T Technology (General)
TJ Mechanical engineering and machinery
Pai, Y.S.
Yap, H.J.
Singh, R.
Augmented reality-based programming, planning and simulation of a robotic work cell
description 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.
format Article
author Pai, Y.S.
Yap, H.J.
Singh, R.
author_facet Pai, Y.S.
Yap, H.J.
Singh, R.
author_sort Pai, Y.S.
title Augmented reality-based programming, planning and simulation of a robotic work cell
title_short Augmented reality-based programming, planning and simulation of a robotic work cell
title_full Augmented reality-based programming, planning and simulation of a robotic work cell
title_fullStr Augmented reality-based programming, planning and simulation of a robotic work cell
title_full_unstemmed Augmented reality-based programming, planning and simulation of a robotic work cell
title_sort augmented reality-based programming, planning and simulation of a robotic work cell
publishDate 2015
url http://eprints.um.edu.my/15841/1/Augmented_reality-based_programming%2C_planning_and_simulation_of_a_robotic.pdf
http://eprints.um.edu.my/15841/
http://pib.sagepub.com/content/229/6/1029
_version_ 1643690147831611392
score 13.211869

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