Pub Date : 2015-12-07DOI: 10.1109/ROBIO.2015.7418875
Qingsong Zhu, J. Yuan, Ling Shao
Rain removal from videos is among the key technologies in image processing and video surveillance because of the complex visual effects caused by rain. With the rapid development of computer vision technologies, rain removal has attracted increasing interests in both academic and industrial communities. In this paper, we firstly reviewed the main rain removal methods by classifying them into four categories based on the exploited rain properties. Some possible Challenges are also pointed out. And then, some constructive suggestions and prospects for the future research are brought forward.
{"title":"The current challenges and prospects of rain detection and removal from videos","authors":"Qingsong Zhu, J. Yuan, Ling Shao","doi":"10.1109/ROBIO.2015.7418875","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418875","url":null,"abstract":"Rain removal from videos is among the key technologies in image processing and video surveillance because of the complex visual effects caused by rain. With the rapid development of computer vision technologies, rain removal has attracted increasing interests in both academic and industrial communities. In this paper, we firstly reviewed the main rain removal methods by classifying them into four categories based on the exploited rain properties. Some possible Challenges are also pointed out. And then, some constructive suggestions and prospects for the future research are brought forward.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115651252","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-06DOI: 10.1109/ROBIO.2015.7419735
Yang Tan, Darwin Lau, Mingxing Liu, P. Bidaud, V. Padois
Large and sudden changes in the torques of the motors of a robot are highly undesirable and should be avoided during robot control as they may result in unpredictable behaviours. One cause of large changes in torques is the presence of discontinuities in the constraints that the robot must satisfy, such as the avoidance of an obstacle or the breaking of contacts with the environment. In this paper, a model predictive control (MPC) approach to approximate constraints that can be predicted over a finite horizon is proposed to minimize the derivative of torques during robot control. The proposed method does not directly modify the desired task trajectory but the constraints to ensure that the worst case of changes in torques is well-managed. From the simulation results on the control of a Kuka LWR robot, it is shown that our approach significantly decreases the maximum derivative of joint torques for both force and acceleration task control examples.
{"title":"Minimization of the rate of change in torques during motion and force control under discontinuous constraints","authors":"Yang Tan, Darwin Lau, Mingxing Liu, P. Bidaud, V. Padois","doi":"10.1109/ROBIO.2015.7419735","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419735","url":null,"abstract":"Large and sudden changes in the torques of the motors of a robot are highly undesirable and should be avoided during robot control as they may result in unpredictable behaviours. One cause of large changes in torques is the presence of discontinuities in the constraints that the robot must satisfy, such as the avoidance of an obstacle or the breaking of contacts with the environment. In this paper, a model predictive control (MPC) approach to approximate constraints that can be predicted over a finite horizon is proposed to minimize the derivative of torques during robot control. The proposed method does not directly modify the desired task trajectory but the constraints to ensure that the worst case of changes in torques is well-managed. From the simulation results on the control of a Kuka LWR robot, it is shown that our approach significantly decreases the maximum derivative of joint torques for both force and acceleration task control examples.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"28 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128641050","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418814
Daoxiong Gong, Ruihua Wang, Guoyu Zuo
This paper studies the motion mapping from a human arm to a heterogeneous slave robot arm for tele-manipulation. A wearable motion capture system is employed to measure the motion of the master arm (i.e., the human arm), and then the motion of human arm is mapped into the workspace of the slave robot arm via corresponding joint group mapping, as a result, we can control the motion of the heterogeneous slave manipulator. This system possesses two remarkable advantages: the fatigue degree and error rate of the operating staff can be significantly reduced, and the safety of the tele-manipulator in an unstructured and constrained environment can be significantly improved.
{"title":"Motion mapping from human arm to a heterogeneous slave arm for tele-manipulation","authors":"Daoxiong Gong, Ruihua Wang, Guoyu Zuo","doi":"10.1109/ROBIO.2015.7418814","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418814","url":null,"abstract":"This paper studies the motion mapping from a human arm to a heterogeneous slave robot arm for tele-manipulation. A wearable motion capture system is employed to measure the motion of the master arm (i.e., the human arm), and then the motion of human arm is mapped into the workspace of the slave robot arm via corresponding joint group mapping, as a result, we can control the motion of the heterogeneous slave manipulator. This system possesses two remarkable advantages: the fatigue degree and error rate of the operating staff can be significantly reduced, and the safety of the tele-manipulator in an unstructured and constrained environment can be significantly improved.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115010653","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418766
Jian Mi, Yasutake Takahashi
In this paper, we focus on configuring a low cost RFID (Radio Frequency IDentification) system with less RFID readers and low density RFID tag textiles for stable and accurate self-localization for an omni-directional mobile robot. An RFID system using multiple RFID readers and high density RFID tags has already been applied to an indoor mobile robot self-localization. However, the system production cost is relatively high. To reduce the production cost of the system while maintaining the self-localization performance, we redesign two new RFID systems configured with 20 RFID readers and 5 RFID readers enlarging the size of an RFID reader antenna. Particularly, a new likelihood function of the tag detection with the redesigned large size RFID reader antenna is proposed for Monte Carlo Localization (MCL). Furthermore, we come up with a novel arrangement of RFID tags installed in a hexagon pattern. The new arrangement of ID tags enables both low cost ID tag installation and high performance of self-localization. We examine the performances of robot self-localization with less RFID readers and lower density RFID tags installed on the floor based on MCL(Monte Carlo localization). The simulation demonstrates the validity of our proposed configuration of the RFID based self-localization.
{"title":"Low cost design of HF-band RFID system for mobile robot self-localization based on multiple readers and tags","authors":"Jian Mi, Yasutake Takahashi","doi":"10.1109/ROBIO.2015.7418766","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418766","url":null,"abstract":"In this paper, we focus on configuring a low cost RFID (Radio Frequency IDentification) system with less RFID readers and low density RFID tag textiles for stable and accurate self-localization for an omni-directional mobile robot. An RFID system using multiple RFID readers and high density RFID tags has already been applied to an indoor mobile robot self-localization. However, the system production cost is relatively high. To reduce the production cost of the system while maintaining the self-localization performance, we redesign two new RFID systems configured with 20 RFID readers and 5 RFID readers enlarging the size of an RFID reader antenna. Particularly, a new likelihood function of the tag detection with the redesigned large size RFID reader antenna is proposed for Monte Carlo Localization (MCL). Furthermore, we come up with a novel arrangement of RFID tags installed in a hexagon pattern. The new arrangement of ID tags enables both low cost ID tag installation and high performance of self-localization. We examine the performances of robot self-localization with less RFID readers and lower density RFID tags installed on the floor based on MCL(Monte Carlo localization). The simulation demonstrates the validity of our proposed configuration of the RFID based self-localization.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115398625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A problem in legged robots compared with wheeled robots is energy loss. A legged robot continues running at equal speed, if total mechanical energy is conserved. However, the faster the average speed is, the larger the energy loss is. A legged robot walks at a regular speed when input energy and energy loss are balanced. If the energy loss per step could be reduced by analyzing the energy outflow from the robot phase by phase, the resulting balanced speed would be faster. The possible energy loss involves viscosity, friction and impact with the ground, negative work (to control the joint angles) of the actuators, and so on. The purpose of this study is to establish a control method for quadruped robots, by which the walking speed is greatest with limited input energy. We aim at clarifying the mechanism of the flow of mechanical energy: translational and rotational kinetic energy of each link, elastic potential energy of each elastic element, and gravitational potential energy of each link.
{"title":"Analysis of the energy flow on quadruped robot having a flexible trunk joint","authors":"M. Ikeda, I. Mizuuchi","doi":"10.20965/jrm.2017.p0536","DOIUrl":"https://doi.org/10.20965/jrm.2017.p0536","url":null,"abstract":"A problem in legged robots compared with wheeled robots is energy loss. A legged robot continues running at equal speed, if total mechanical energy is conserved. However, the faster the average speed is, the larger the energy loss is. A legged robot walks at a regular speed when input energy and energy loss are balanced. If the energy loss per step could be reduced by analyzing the energy outflow from the robot phase by phase, the resulting balanced speed would be faster. The possible energy loss involves viscosity, friction and impact with the ground, negative work (to control the joint angles) of the actuators, and so on. The purpose of this study is to establish a control method for quadruped robots, by which the walking speed is greatest with limited input energy. We aim at clarifying the mechanism of the flow of mechanical energy: translational and rotational kinetic energy of each link, elastic potential energy of each elastic element, and gravitational potential energy of each link.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"61 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115471377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418774
Kun Zhang, Zaojun Fang, Jianran Liu, M. Tan
To hit incoming balls back to a desired position, it is a key factor for table tennis robot to get racket parameters accurately. For modeling the stroke process, a novel model is built based on multiple neural networks. The input data for neural networks are the ball velocity differences during the stroke, and racket parameters are the output data. To reduce the influences from the invalid data, a neural network based on each empirical data is established. The training data are clustered based on the empirical data. The way of choosing a neural network to compute the racket parameters depends on the comparison between the new coming data and the empirical data. Moreover, a novel way based on a binocular vision system to verify the stroke model is proposed. Experimental results have showed that the stroke model created via the proposed method is applicable and the verification method is effective.
{"title":"Modeling the stroke process in table tennis robot using neural network","authors":"Kun Zhang, Zaojun Fang, Jianran Liu, M. Tan","doi":"10.1109/ROBIO.2015.7418774","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418774","url":null,"abstract":"To hit incoming balls back to a desired position, it is a key factor for table tennis robot to get racket parameters accurately. For modeling the stroke process, a novel model is built based on multiple neural networks. The input data for neural networks are the ball velocity differences during the stroke, and racket parameters are the output data. To reduce the influences from the invalid data, a neural network based on each empirical data is established. The training data are clustered based on the empirical data. The way of choosing a neural network to compute the racket parameters depends on the comparison between the new coming data and the empirical data. Moreover, a novel way based on a binocular vision system to verify the stroke model is proposed. Experimental results have showed that the stroke model created via the proposed method is applicable and the verification method is effective.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123062973","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418828
Jun Zou, Huayan Pu, Yayi Shen, Yi Sun, Wenchuan Jia, Shugen Ma, Jun Luo, Shaorong Xie
A novel eccentric paddle mechanism based on the epicyclic mechanism (ePaddle-EGM) has been proposed to enhance the mobility of amphibious robot for multi-environments tasks with diverse locomotion gaits, including a novel non-reciprocating legged gait. In this study, an optimized non-reciprocating planning method by planning the posture angle of the supporting paddle is focused to improve energetic efficiency of this gait. Relationship between the posture angle of the supporting paddle and actuation forces on the paddle is analyzed in the state of equilibrium. Standing on the ground vertically is found to be an optimal posture for the supporting paddle to achieve minimum quadratic sum of the actuation forces. The planning method that considers the optimal posture angle of the paddle and the stride of the gait is established and verified in simulations. Calculated specific resistance confirms that the proposed method can improve the energetic efficiency of the non-reciprocating legged gait.
{"title":"Optimized non-reciprocating tripod gait for a hexapod robot with epicyclic-gear-based eccentric paddle mechanism","authors":"Jun Zou, Huayan Pu, Yayi Shen, Yi Sun, Wenchuan Jia, Shugen Ma, Jun Luo, Shaorong Xie","doi":"10.1109/ROBIO.2015.7418828","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418828","url":null,"abstract":"A novel eccentric paddle mechanism based on the epicyclic mechanism (ePaddle-EGM) has been proposed to enhance the mobility of amphibious robot for multi-environments tasks with diverse locomotion gaits, including a novel non-reciprocating legged gait. In this study, an optimized non-reciprocating planning method by planning the posture angle of the supporting paddle is focused to improve energetic efficiency of this gait. Relationship between the posture angle of the supporting paddle and actuation forces on the paddle is analyzed in the state of equilibrium. Standing on the ground vertically is found to be an optimal posture for the supporting paddle to achieve minimum quadratic sum of the actuation forces. The planning method that considers the optimal posture angle of the paddle and the stride of the gait is established and verified in simulations. Calculated specific resistance confirms that the proposed method can improve the energetic efficiency of the non-reciprocating legged gait.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115751741","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418764
Yang Tian, Victor Gomez, Shugen Ma
Snake-like robots are capable of different locomotion patterns to move in narrow spaces, even with uneven terrain or highly constrained environments such as tunnels or pipes. Localization in such spaces is difficult, especially because of the lack of features to recognize movement or the area specifics. In these featureless environments, odometry-less robots will be similar to a new kidnapping problem. In this paper, how the influence of a Simultaneous Localization and Mapping (SLAM) algorithm is had in featureless environments without kidnapping recovery algorithms following a certain locomotion, such as the serpentine locomotion, is presented. In a comparison between two similar SLAM algorithms, how a key process, which is only present in one of SLAM algorithms, can affect the mapping performance, is shown. Furthermore, tests modifying the parameters of this process have been done. Also, simulations while changing the grid size of the map were conducted. Simulations and experiments have been done to show the validity of our analysis.
{"title":"Influence of two SLAM algorithms using serpentine locomotion in a featureless environment","authors":"Yang Tian, Victor Gomez, Shugen Ma","doi":"10.1109/ROBIO.2015.7418764","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418764","url":null,"abstract":"Snake-like robots are capable of different locomotion patterns to move in narrow spaces, even with uneven terrain or highly constrained environments such as tunnels or pipes. Localization in such spaces is difficult, especially because of the lack of features to recognize movement or the area specifics. In these featureless environments, odometry-less robots will be similar to a new kidnapping problem. In this paper, how the influence of a Simultaneous Localization and Mapping (SLAM) algorithm is had in featureless environments without kidnapping recovery algorithms following a certain locomotion, such as the serpentine locomotion, is presented. In a comparison between two similar SLAM algorithms, how a key process, which is only present in one of SLAM algorithms, can affect the mapping performance, is shown. Furthermore, tests modifying the parameters of this process have been done. Also, simulations while changing the grid size of the map were conducted. Simulations and experiments have been done to show the validity of our analysis.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"35 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120932067","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7418845
Peng Chen, Hongyi Li
A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method.
{"title":"A rotor-separated dynamic modeling method for flexible manipulators based on FS-SEA","authors":"Peng Chen, Hongyi Li","doi":"10.1109/ROBIO.2015.7418845","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7418845","url":null,"abstract":"A rotor-separated dynamic modelling method is proposed based on the dynamics of spatial operator algebra in this paper, for n-DoF serial flexible-joint manipulators with harmonic reducers and with FS-SEAs (force sourced series elastic actuators) as flexible mechanisms. The completed dynamic model comprises the flexible joint dynamics and the whole arm dynamics. Inverse dynamics and forward dynamics of the two parts are researched respectively, through which the complete rotor-separated dynamic model is finally derived. The modelling method proposed in this paper is verified by simulations. And the simulation results demonstrate the significant advantages of the proposed method.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"4 5","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120981529","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2015-12-01DOI: 10.1109/ROBIO.2015.7419018
Hongmin Wu, H. Deng, Cao Yang, Y. Guan, Hong Zhang, Hao Li
It is well known that off-line programming (OLP) is an efficient control mode for industrial robots. However, OLP is not yet commonly and widely used in applications, since commercial OLP systems are very expensive, with prices even much higher than those of robotic systems themselves. Simple but effective OLP systems are desired, and such systems may be made based on other commonly used CAD systems. We have developed a robotic OLP system, which we called RobSim, based on SolidWorks and with Microsoft Visual Studio 2010. RobSim is developed as an add-on tool for the commonly used CAD software SolidWorks. With this OLP system, an object can be made, imported or modified in the conventional mode in SolidWorks environment, and various trajectories for a robot can be easily and conveniently defined and modified in the same environment. Trajectory interposition, kinematic computation, dynamic and graphic simulation can be conducted. Finally executable codes can be generated for the robot to perform tasks. In this paper, the development of RobSim is demonstrated. Specifically, the architecture of RobSim, the method for extracting position and orientation from a pre-defined path on an object for the robot tool, and path transformation, are presented. Simulation and experiments are also conducted to verify the effectiveness of the OLP system.
离线编程(OLP)是工业机器人的一种高效控制方式。然而，由于商用OLP系统非常昂贵，价格甚至远高于机器人系统本身，OLP尚未在应用中得到普遍和广泛的应用。简单而有效的OLP系统是需要的，这样的系统可以基于其他常用的CAD系统。我们已经开发了一个机器人OLP系统，我们称之为RobSim，基于SolidWorks和微软Visual Studio 2010。RobSim是作为常用CAD软件SolidWorks的附加工具开发的。利用该OLP系统，可以在SolidWorks环境中以常规方式制作、导入或修改对象，并且可以在同一环境中轻松方便地定义和修改机器人的各种轨迹。可以进行轨迹插入、运动学计算、动态仿真和图形仿真。最后生成机器人执行任务的可执行代码。本文介绍了RobSim的开发过程。具体而言，介绍了RobSim的体系结构、机器人工具从物体上的预定义路径提取位置和方向的方法以及路径转换。仿真和实验验证了该系统的有效性。
{"title":"A robotic off-line programming system based on SolidWorks","authors":"Hongmin Wu, H. Deng, Cao Yang, Y. Guan, Hong Zhang, Hao Li","doi":"10.1109/ROBIO.2015.7419018","DOIUrl":"https://doi.org/10.1109/ROBIO.2015.7419018","url":null,"abstract":"It is well known that off-line programming (OLP) is an efficient control mode for industrial robots. However, OLP is not yet commonly and widely used in applications, since commercial OLP systems are very expensive, with prices even much higher than those of robotic systems themselves. Simple but effective OLP systems are desired, and such systems may be made based on other commonly used CAD systems. We have developed a robotic OLP system, which we called RobSim, based on SolidWorks and with Microsoft Visual Studio 2010. RobSim is developed as an add-on tool for the commonly used CAD software SolidWorks. With this OLP system, an object can be made, imported or modified in the conventional mode in SolidWorks environment, and various trajectories for a robot can be easily and conveniently defined and modified in the same environment. Trajectory interposition, kinematic computation, dynamic and graphic simulation can be conducted. Finally executable codes can be generated for the robot to perform tasks. In this paper, the development of RobSim is demonstrated. Specifically, the architecture of RobSim, the method for extracting position and orientation from a pre-defined path on an object for the robot tool, and path transformation, are presented. Simulation and experiments are also conducted to verify the effectiveness of the OLP system.","PeriodicalId":325536,"journal":{"name":"2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2015-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127284810","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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