Limits...
Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

Yap HJ, Taha Z, Dawal SZ, Chang SW - PLoS ONE (2014)

Bottom Line: A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information.Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator.The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.

ABSTRACT
Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

Show MeSH
Simulation and validation using KUKA software.
© Copyright Policy
Related In: Results  -  Collection

License
getmorefigures.php?uid=PMC4215904&req=5

pone-0109692-g012: Simulation and validation using KUKA software.

Mentions: The actual testing is carried out in the Robotics Laboratory. The original work cell consists of two industrial robots of KUKA KR6/2 (payload: 6 kg). The existing robots require higher maintenance and the low payload is unable to fulfil the current requirements. Therefore, the existing robots are replaced with KUKA KR16 KS (payload: 16 kg). Thus, a new layout design is needed since both robots have different workspace, reach, speed and other requirements. Following this, the VR-RoWL model is used to determine and evaluate the layout prior to the actual hardware installation. The robot teaching system (VR-RoT) is used to plan and determine the robot path in advance. The robot process path is taught and the robot commands are generated offline. The layout and process path planned in the VR-RoWL are validated using KUKA SimPro Simulation environment to determine clearance, reach, safety etc. KUKA OfficeLite is used to validate the robot commands generated by the VR-RoT. Figure 12 shows the simulation and validation using KUKA software before being loaded into the actual system.


Virtual reality based support system for layout planning and programming of an industrial robotic work cell.

Yap HJ, Taha Z, Dawal SZ, Chang SW - PLoS ONE (2014)

Simulation and validation using KUKA software.
© Copyright Policy
Related In: Results  -  Collection

License
Show All Figures
getmorefigures.php?uid=PMC4215904&req=5

pone-0109692-g012: Simulation and validation using KUKA software.
Mentions: The actual testing is carried out in the Robotics Laboratory. The original work cell consists of two industrial robots of KUKA KR6/2 (payload: 6 kg). The existing robots require higher maintenance and the low payload is unable to fulfil the current requirements. Therefore, the existing robots are replaced with KUKA KR16 KS (payload: 16 kg). Thus, a new layout design is needed since both robots have different workspace, reach, speed and other requirements. Following this, the VR-RoWL model is used to determine and evaluate the layout prior to the actual hardware installation. The robot teaching system (VR-RoT) is used to plan and determine the robot path in advance. The robot process path is taught and the robot commands are generated offline. The layout and process path planned in the VR-RoWL are validated using KUKA SimPro Simulation environment to determine clearance, reach, safety etc. KUKA OfficeLite is used to validate the robot commands generated by the VR-RoT. Figure 12 shows the simulation and validation using KUKA software before being loaded into the actual system.

Bottom Line: A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information.Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator.The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme.

View Article: PubMed Central - PubMed

Affiliation: Department of Mechanical Engineering, Faculty of Engineering, University of Malaya, Kuala Lumpur, Malaysia.

ABSTRACT
Traditional robotic work cell design and programming are considered inefficient and outdated in current industrial and market demands. In this research, virtual reality (VR) technology is used to improve human-robot interface, whereby complicated commands or programming knowledge is not required. The proposed solution, known as VR-based Programming of a Robotic Work Cell (VR-Rocell), consists of two sub-programmes, which are VR-Robotic Work Cell Layout (VR-RoWL) and VR-based Robot Teaching System (VR-RoT). VR-RoWL is developed to assign the layout design for an industrial robotic work cell, whereby VR-RoT is developed to overcome safety issues and lack of trained personnel in robot programming. Simple and user-friendly interfaces are designed for inexperienced users to generate robot commands without damaging the robot or interrupting the production line. The user is able to attempt numerous times to attain an optimum solution. A case study is conducted in the Robotics Laboratory to assemble an electronics casing and it is found that the output models are compatible with commercial software without loss of information. Furthermore, the generated KUKA commands are workable when loaded into a commercial simulator. The operation of the actual robotic work cell shows that the errors may be due to the dynamics of the KUKA robot rather than the accuracy of the generated programme. Therefore, it is concluded that the virtual reality based solution approach can be implemented in an industrial robotic work cell.

Show MeSH