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

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.