The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality

2012 ◽  
Vol 204-208 ◽  
pp. 4729-4733
Author(s):  
Hui Ying Dong ◽  
Qi Hua Sun ◽  
Xue Lu ◽  
Zhang Ming Liu
Keyword(s):  
Virtual Reality ◽  
Trajectory Planning ◽  
Hot Spot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Trajectory Tracking Control ◽  
Cartesian Space ◽  
Robot Trajectory ◽  
Interactive Operation ◽  
Simulation Based

At present, robot simulation based on virtual reality is a hot spot in the study of the robotic. We can build more intuitive and efficient and realistic simulation environment of processing of the robot through combining computer technology and virtual reality technology to carry out a more effective human-machine interactive operation. Robotic trajectory planning is not only the basis of trajectory tracking control, but also the implementation of tasks in robotics. It is discussed trajectory planning and path generation based on robot kinematics and dynamics in the joint space and Cartesian space. In this paper, we study the robot trajectory planning and use three B-spines fitting the robot path in Cartesian space.

The Trajectory Planning and Simulation for Industrial Robot Based on Fifth-Order B-Splines

2014 ◽  
Vol 538 ◽  
pp. 367-370 ◽  
Author(s):  
Zhi Jian Gou ◽  
Cheng Wang
Keyword(s):  
Trajectory Planning ◽  
Industrial Robot ◽  
Joint Space ◽  
Robot Kinematics ◽  
Kinematic Parameters ◽  
B Spline ◽  
B Splines ◽  
Robot Trajectory ◽  
Fifth Order ◽  
Parameter Constraints

The trajectory is planned with fifth-order uniform B-splines for the industrial robot aimed to assure the motion is smooth and the trajectory is fourth-order continuous. Under the premise to satisfy the initial kinematic parameters of the robot as zero, its speed, acceleration and jerk are continuous. Based on B-spline theory, process five B-spline curve function is calculated inversely in joint space. Under the robot kinematics parameter constraints, using fifth-order B-spline interpolates to plan robot trajectory when known interpolation points and the kinematic parameters are simulated and validated by the software of ADAMS.So it provides an effective new method for the trajectory planning.

scholarly journals Kinematic analysis of a newly designed cable-driven manipulator

2018 ◽  
Vol 42 (2) ◽  
pp. 125-135 ◽  
Author(s):  
Wei Xu ◽  
Yaoyao Wang ◽  
Surong Jiang ◽  
Jiafeng Yao ◽  
Bai Chen
Keyword(s):  
Trajectory Planning ◽  
Kinematic Analysis ◽  
Joint Space ◽  
Joint Angles ◽  
Coupled Motion ◽  
Cartesian Space ◽  
The Impact ◽  
The Relationship

In this paper, the cable routing configurations for a cable-driven manipulator are introduced, and the impact of motion coupling caused by cable transmission routing of a 2n type cable-driven manipulator is analyzed in detail. Based on different configurations of cable routings, the relationship between variation of joint angles and the geometrical sizes of guide pulleys is established, represented by a matrix for coupled motion. Moreover, based on the effects of the motion coupling of a cable-driven manipulator, we propose the condition for the invariance of orientation, which can be achieved constraining of the geometrical sizes of guide pulleys and driven wheels. In addition, to identify the correctness of analysis for coupled motion, a 3-DOFs planer cable-driven manipulator prototyping model is constructed, and the kinematics and trajectory planning has been solved. Finally, the relationship among actuator space, joint space, and Cartesian space, including the mapping of the motion coupling, is experimentally validated. The property of invariance of orientation is also validated by an experiment.

6-Axis Serial Robot Simulation Based on SimulationX

2012 ◽  
Vol 152-154 ◽  
pp. 1010-1017
Author(s):  
Si Jun Zhao ◽  
Jia Yua Shan ◽  
Lu Yan Bi
Keyword(s):  
Trajectory Planning ◽  
Simulation Analysis ◽  
Inverse Kinematic ◽  
Robot Kinematics ◽  
Robot System ◽  
Planning And Control ◽  
Simulation Based ◽  
Serial Robot ◽  
And Control ◽  
Trajectory Planning And Control

This paper presents research and simulation analysis on kinematics and dynamics problem based on the 6-axis serial robot. By means of Denavit-Hartenberg method, the robot kinematics model is established as well as and the derivation process of kinematic and inverse kinematic resolution is described in detail. Furthermore, in software simulationX, robot system model including mechanical sub-system and control sub-system are founded. Additionally, through simulation, different performances of robot are illustrated based on different trajectory planning and control. In this way a theoretical reference is provided for the further study on trajectory planning and controls of 6-axis serial robot.

Research of Visualized 3d Substation Simulation Based on Virtual Reality Technology

2014 ◽  
Vol 568-570 ◽  
pp. 1834-1838
Author(s):  
Feng Jie Sun ◽  
He Chen ◽  
Hui Juan Liu
Keyword(s):  
Virtual Reality ◽  
Low Cost ◽  
Three Dimensional ◽  
Electrical Equipment ◽  
Script Language ◽  
Virtual Reality Technology ◽  
Interactive Operation ◽  
Special Events ◽  
Simulation Based ◽  
Modeling Software

The three-dimensional virtual reality technology was introduced into the visualized substation. The virtual substation models of main electrical equipment and the whole scene were built by using 3dsMax modeling software. After the design of special events response routing and editting the corresponding script language, users can interact with virtual objects in the scene model, resulting in feelings and experiences on the ground. Compared with the real substation, the virtual substation has the advantages of low cost, interactive operation safety, and is of great significance to improve the technical level of the operators.

Research the Training System of the Oilfield Staff Simulation Based on Virtual Reality Technology

2013 ◽  
Vol 807-809 ◽  
pp. 2863-2867 ◽  
Author(s):  
Dong Li Yang ◽  
Si Yu Liu ◽  
Bin Yang ◽  
Bo Zhou
Keyword(s):  
Virtual Reality ◽  
Staff Training ◽  
Training System ◽  
Training Methods ◽  
Safety Skills ◽  
System Framework ◽  
Virtual Reality Technology ◽  
Interactive Operation ◽  
Simulation Based

On the basis of researching virtual reality training system at home and abroad, in view of the oilfield staff training needs, we design the training system framework of the oilfield staff simulation based on virtual reality technology. Give the composition of the system framework and the main functions of the modules. Using the simulation technology, we can draw the craft process. Let the employees do man-machine interactive operation in a virtual reality scene. Then according to the quality of operation, operation steps and the alarm-condition appears in the operation, the training system give a score. Through this kind of training methods, it improves the safety skills of the oilfield staff and capability of dealing with accidents.

Research and Simulation of Robot Trajectory Planning in Joint Space

2011 ◽  
Vol 103 ◽  
pp. 372-377
Author(s):  
Xiao Ping Hu ◽  
Fu Yong Zuo
Keyword(s):  
Velocity Profile ◽  
Trajectory Planning ◽  
Joint Space ◽  
Robot Trajectory ◽  
Simulation Results ◽  
Robot Position ◽  
Robot Trajectory Planning

Studying methods of robot trajectory planning which based on polynomial and trapezoidal velocity profile in joint space. The trajectory of one joint robot and joints robot is simulated by MATLAB. The simulation results shows that it satisfies restraint conditions of robot position velocity and acceleration in motion, it guaranteed smooth and continuity.

Research on Painting Robot Manipulator for Irregular Components in Reproducing Cartridge

2011 ◽  
Vol 121-126 ◽  
pp. 1358-1362
Author(s):  
Qian Qian Chen ◽  
Xiu Ting Wei ◽  
Jiang Hai Lin ◽  
Gang Li
Keyword(s):  
Inverse Problem ◽  
Trajectory Planning ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Joint Space ◽  
Forward Problem ◽  
Cartesian Space ◽  
Painting Robot

In order to implement the surface painting automation of irregular components of reproducing cartridge, a painting robot manipulator with four degrees of freedom is carried out in this paper. Kinematics forward problem and inverse problem of the manipulator are firstly formulated and then painting trajectory is described by adopting the structure of endpoints and line-style. Furthermore, painting trajectory is generated in both joint space and Cartesian space according to robot’s trajectory planning principle.

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