Augmented reality-based programming, planning and simulation of a robotic work cell

• Main Authors: Pai, Y.S., Yap, H.J., Singh, R.
• Format: Article
• Language: English
• Published: 2015
• Subjects: T Technology (General); TJ Mechanical engineering and machinery
• Online Access: http://eprints.um.edu.my/15841/1/Augmented_reality-based_programming%2C_planning_and_simulation_of_a_robotic.pdf; http://eprints.um.edu.my/15841/; http://pib.sagepub.com/content/229/6/1029

In this article, the development of an augmented reality-based robotic work cell is presented, consisting of a virtual robot arm, conveyor belt, pallet and computer numerical control machine that simulates an actual manufacturing plant environment. The kinematics of the robot arm is realized using Denavit-Hartenberg's theorem, which enables complete manipulation of the end-effector in three-dimensional space when interacting with other virtual machines. Collision detection is implemented in two areas, namely, modifiable marker-based detection for the robot arm, which detects nearby obstacles as well as integration with object manipulation to pick and place a virtual object around the environment. In addition, an augmented heads-up display overlay displays live information of the current system. The case studies suggest that the proposed system can simulate a collision-free operation while displaying the coordinates of the virtual object, current tool equipped and speed of the conveyor belt, with a percentage error of less than 5.