Integration of a virtual 3D model of a robot manipulator with its tangible model (Phantom)

Krzysztof Herbuś; Gabriel Kost; Daniel Reclik; Jerzy Świder

doi:10.4028/www.scientific.net/AMR.837.582

Integration of a virtual 3D model of a robot manipulator with its tangible model (Phantom)

Krzysztof Herbuś
, Gabriel Kost
, Daniel Reclik
, Jerzy Świder

Department of Engineering Processes Automation and Integrated Manufacturing Systems (RMT/RMT2)

Silesian University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

25 Citations (Scopus)

Abstract

The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.

Original language	English
Title of host publication	Modern Technologies in Industrial Engineering
Pages	582-587
Number of pages	6
DOIs	https://doi.org/10.4028/www.scientific.net/AMR.837.582
Publication status	Published - 2014
Event	2013 ModTech International Conference on Modern Technologies in Industrial Engineering, ModTech 2013 - Sinaia, Romania Duration: 27 Jun 2013 → 29 Jun 2013

Publication series

Name	Advanced Materials Research
Volume	837
ISSN (Print)	1022-6680

Conference

Conference	2013 ModTech International Conference on Modern Technologies in Industrial Engineering, ModTech 2013
Country/Territory	Romania
City	Sinaia
Period	27/06/13 → 29/06/13

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Communication interface
Integration
Phantom
Programming of robots
VR systems
Virtual reality

ASJC Scopus subject areas

General Engineering

Access to Document

10.4028/www.scientific.net/AMR.837.582

Cite this

@inproceedings{9f16ceb58f48446cb805cadecad6fb82,

title = "Integration of a virtual 3D model of a robot manipulator with its tangible model (Phantom)",

abstract = "The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.",

keywords = "Communication interface, Integration, Phantom, Programming of robots, VR systems, Virtual reality",

author = "Krzysztof Herbu{\'s} and Gabriel Kost and Daniel Reclik and Jerzy {\'S}wider",

year = "2014",

doi = "10.4028/www.scientific.net/AMR.837.582",

language = "English",

isbn = "9783037859292",

series = "Advanced Materials Research",

pages = "582--587",

booktitle = "Modern Technologies in Industrial Engineering",

note = "2013 ModTech International Conference on Modern Technologies in Industrial Engineering, ModTech 2013 ; Conference date: 27-06-2013 Through 29-06-2013",

}

Herbuś, K , Kost, G, Reclik, D & Świder, J 2014, Integration of a virtual 3D model of a robot manipulator with its tangible model (Phantom). in Modern Technologies in Industrial Engineering. Advanced Materials Research, vol. 837, pp. 582-587, 2013 ModTech International Conference on Modern Technologies in Industrial Engineering, ModTech 2013, Sinaia, Romania, 27/06/13. https://doi.org/10.4028/www.scientific.net/AMR.837.582

TY - GEN

T1 - Integration of a virtual 3D model of a robot manipulator with its tangible model (Phantom)

AU - Herbuś, Krzysztof

AU - Kost, Gabriel

AU - Reclik, Daniel

AU - Świder, Jerzy

PY - 2014

Y1 - 2014

N2 - The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.

AB - The study outlines the method for integration of a 3D model of a robot manipulating mechanism with its phantom. Robots are usually programmed by means of their control panels (teachpendants) or with use of relevant software dedicated for programming aid (e.g. Robcad). An alternative method for programming of robots may consist in application of a tangible robot model (a phantom) that is dedicated for programming FANUC ARCMate100iB robots. The phantom is used as a real object that enforces defined positions for individual members of the manipulator virtual model. For that purpose a model of a real robot manipulator was constructed at the 1:4 scale with use of the fast prototyping methods and the model was subsequently used as the enforcing object. Since accurate potentiometers were installed on each of the manipulator rotation axis the information about specific angular positions of the individual members of the manipulator could be provided.

KW - Communication interface

KW - Integration

KW - Phantom

KW - Programming of robots

KW - VR systems

KW - Virtual reality

UR - https://www.scopus.com/pages/publications/84891650964

U2 - 10.4028/www.scientific.net/AMR.837.582

DO - 10.4028/www.scientific.net/AMR.837.582

M3 - Conference contribution

AN - SCOPUS:84891650964

SN - 9783037859292

T3 - Advanced Materials Research

SP - 582

EP - 587

BT - Modern Technologies in Industrial Engineering

T2 - 2013 ModTech International Conference on Modern Technologies in Industrial Engineering, ModTech 2013

Y2 - 27 June 2013 through 29 June 2013

ER -

Integration of a virtual 3D model of a robot manipulator with its tangible model (Phantom)

Abstract

Publication series

Conference

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this