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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2015
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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 |
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Institutional Repository |
| continent |
Asia |
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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 |
13.250246 |