Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots

Kód výsledku v IS VaVaI

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Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots

Popis výsledku v původním jazyce

The paper deals with the three-dimensional (3D) path modeling and visualization used in simulation of model predictive control design of industrial robots-manipulators. A one possible comprehensive procedure is introduced as a specific sequence of the following points: i) path modeling using set of control points with G-Code generation and time-parametrization. ii) construction of photo-realistic 3D virtual reality robot model including surrounding workplace. iii) 3D robot visualization using Virtual Reality Modeling Language VRML V2.0. iv) brief overview of model predictive control design and v) simulation of the control with visualization using prepared 3D virtual reality robot model. This sequence is applied to the one representative of articulated robots – ABB robot IRB 140. Siemens NX Software (points i–iii), and MATLAB/Simulink env. (points iii–v) are proposed as suitable work tools.

Název v anglickém jazyce

Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots

Popis výsledku anglicky

The paper deals with the three-dimensional (3D) path modeling and visualization used in simulation of model predictive control design of industrial robots-manipulators. A one possible comprehensive procedure is introduced as a specific sequence of the following points: i) path modeling using set of control points with G-Code generation and time-parametrization. ii) construction of photo-realistic 3D virtual reality robot model including surrounding workplace. iii) 3D robot visualization using Virtual Reality Modeling Language VRML V2.0. iv) brief overview of model predictive control design and v) simulation of the control with visualization using prepared 3D virtual reality robot model. This sequence is applied to the one representative of articulated robots – ABB robot IRB 140. Siemens NX Software (points i–iii), and MATLAB/Simulink env. (points iii–v) are proposed as suitable work tools.

Druh

O - Ostatní výsledky

CEP obor

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OECD FORD obor

20204 - Robotics and automatic control

Projekt

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Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů