CAD-based robot path planning and simulation using OPEN CASCADE
| Autor: | Amit Kumar Bedaka, Chyi-Yeu Lin |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
0209 industrial biotechnology
business.industry Computer science Interface (Java) 020206 networking & telecommunications Control engineering Usability CAD 02 engineering and technology Task (computing) 020901 industrial engineering & automation Cascade Path (graph theory) 0202 electrical engineering electronic engineering information engineering General Earth and Planetary Sciences Robot Manipulator business General Environmental Science |
| Zdroj: | Procedia Computer Science. 133:779-785 |
| ISSN: | 1877-0509 |
| DOI: | 10.1016/j.procs.2018.07.119 |
| Popis: | In manufacturing industries, human operators are required in many manufacturing processes, which is time-consuming and not cost-effective. In the present approach, a CAD-based off-line programming (OLP) platform is developed based on OPEN CASCADE (OCC) open source libraries. The developed platform works as a human-robot interface (HRI), offers friendly interaction in an intuitive way, so that in few minutes with basic information, any user can generate a robot path from a CAD model and visualize the simulation graphically. The platform provides important steps such as loading CAD models to define a task, extracting CAD information to generate a path, checking the reachability of the manipulator, and simulation to check and prevent the possible collision before generating a robot program. To evaluate the industrial usability of the proposed platform, a robot program for gluing application is generated from simulation and mapped to a real 6-Degree Of Freedom industrial manipulator. |
| Databáze: | OpenAIRE |
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