Using 3D Matching for Picking and Placing on UR Robot

2017 ◽  
Vol 870 ◽  
pp. 289-294 ◽  
Author(s):  
Hong Zhen Zhao ◽  
Gui Lin Yang ◽  
Chin Yin Chen
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Special Method ◽  
Cad Model ◽  
Object Model ◽  
3D Object ◽  
3D Cad ◽  
Novel Method ◽  
Technology Users ◽  
The Given

Due to conventional industrial robot moving has been known that programing is either tedious or simplex and operating platform requires a pure environment without unnecessary distractions from other objects. This paper presents a novel method which using shape based 3Dmatching technology for picking and placing object by UR robot. This method is able to help the robot catch a specified object in any complex environment. To do this, we need only one camera and the targets' 3D CAD model. There are many efforts was indeed carried out in order to improve the control accuracy, first , the 3D coordinates of the interested points should be high-resolution calculated with the images that areprovided by the camera and we use a special method to optimize internal and external camera parameters when calibrating the camera, Then, A 3D-matching-operator is used to search for the specific objects in the real-time images based on the given 3D model, which is realized by projects the edges of the 3D object model that was used to create the 3D shape model into the image coordinate system and return projected edges. Finally, the coordinates of the 3D object model is obtained in the PTU coordinate system through the integration of a PTU and a Laser range finder , and a transformational matrix is obtained for calculate the coordinates of the targets on UR robot’s base coordinate system. Based on this technology, users only simply need to import a 3D CAD model and click on the image of the workplace to define the end point, the robot will exceed the procedure of pick and place automatically.

scholarly journals Modeling in ADAMS of a 6R industrial robot

2018 ◽  
Vol 184 ◽  
pp. 02006
Author(s):  
Mariana Ratiu ◽  
Alexandru Rus ◽  
Monica Loredana Balas
Keyword(s):  
Dynamic Analysis ◽  
Industrial Robot ◽  
Kinematic Model ◽  
Future Research ◽  
Robot Motion ◽  
Cad Model ◽  
3D Cad ◽  
Revolute Joints ◽  
Real Model ◽  
Articulated Robot

In this paper, we present the first steps in the process of the modeling in ADAMS MBS of MSC software of the mechanical system of an articulated robot, with six revolute joints. The geometric 3D CAD model of the robot, identical to the real model, in the PARASOLID format, is imported into ADAMS/View and then are presented the necessary steps for building the kinematic model of the robot. We conducted this work, in order to help us in our future research, which will consist of kinematic and dynamic analysis and optimization of the robot motion.

3D CAD Model Retrieval Algorithm Based on Accessibility Cone Distributions

2013 ◽  
Vol 834-836 ◽  
pp. 1444-1447
Author(s):  
Wei Qiang
Keyword(s):  
Engineering Application ◽  
Similarity Coefficient ◽  
Retrieval Algorithm ◽  
Cad Model ◽  
3D Cad ◽  
Planar Grid ◽  
Model Retrieval ◽  
Cad Models ◽  
The Given ◽  
3D Cad Model Retrieval

To reuse 3D CAD models more efficiently, a new 3D CAD model retrieval algorithm based on accessibility cone distributions is proposed. Firstly, a sufficiently large number of random sample points on surface of 3D CAD model are taken and the normal direction of each sample point is recorded. Then, the accessibility cone of the given sampled point is computed. Secondly, a planar grid is constructed to express the accessibility cone distribution by obtaining a statistic data of the sampled points. Lastly, the L1 distance metric method is taken to compute the similarity between the two accessibility cone matrices, which can give the similarity coefficient for two compared 3D CAD models. Experiments results show that the algorithm can effectively support 3D CAD model retrieval, and the efficiency meets the requirement of engineering application.

APPLYING THE ISF TECHNOLOGY TO PRODUCE THE CAR PART MODELS

2010 ◽  
Vol 13 (4) ◽  
pp. 91-98
Author(s):  
Tuan Dinh Phan ◽  
Binh Thien Nguyen ◽  
Dien Khanh Le ◽  
Phuong Hoang Pham
Keyword(s):  
Rapid Prototyping ◽  
Incremental Sheet Forming ◽  
Cad Model ◽  
Post Processing ◽  
Technological Parameters ◽  
Batch Production ◽  
Complex Products ◽  
3D Cad ◽  
Real Size ◽  
Single Batch

The paper presents an application the research results previously done by group on the influence of technological parameters to the deformation angle and finish surface quality in order to choose technology parameters for the incremental sheet forming (ISF) process to produce products for the purpose of rapid prototyping or single-batch production, including all steps from design and process 3D CAD model, calculate and select the technological parameters, setting up manufacturing and the stage of post-processing. The samples formed successfully showed high applicability of this technology to practical work, the complex products with the real size can be produced in industries: automotive, motorcycle, civil...

scholarly journals Automatized Evaluation of Students’ CAD Models

2021 ◽  
Vol 11 (4) ◽  
pp. 145
Author(s):  
Nenad Bojcetic ◽  
Filip Valjak ◽  
Dragan Zezelj ◽  
Tomislav Martinec
Keyword(s):  
Computer Aided Design ◽  
Three Dimensional ◽  
Computer Application ◽  
Test Cases ◽  
Cad Model ◽  
Computer Solution ◽  
3D Cad ◽  
Computer Aided ◽  
Cad Models ◽  
Aided Design

The article describes an attempt to address the automatized evaluation of student three-dimensional (3D) computer-aided design (CAD) models. The driving idea was conceptualized under the restraints of the COVID pandemic, driven by the problem of evaluating a large number of student 3D CAD models. The described computer solution can be implemented using any CAD computer application that supports customization. Test cases showed that the proposed solution was valid and could be used to evaluate many students’ 3D CAD models. The computer solution can also be used to help students to better understand how to create a 3D CAD model, thereby complying with the requirements of particular teachers.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

scholarly journals A novel method for the analytical solution of fractional Zakharov–Kuznetsov equations

2019 ◽  
Vol 2019 (1) ◽  
Author(s):  
Rasool Shah ◽  
Hassan Khan ◽  
Dumitru Baleanu ◽  
Poom Kumam ◽  
Muhammad Arif
Keyword(s):  
Present Method ◽  
Decomposition Method ◽  
Fractional Derivatives ◽  
Adomian Decomposition Method ◽  
Current Method ◽  
Analytical Technique ◽  
Suggested Technique ◽  
Adomian Decomposition ◽  
Novel Method ◽  
The Given

AbstractIn this article, an efficient analytical technique, called Laplace–Adomian decomposition method, is used to obtain the solution of fractional Zakharov– Kuznetsov equations. The fractional derivatives are described in terms of Caputo sense. The solution of the suggested technique is represented in a series form of Adomian components, which is convergent to the exact solution of the given problems. Furthermore, the results of the present method have shown close relations with the exact approaches of the investigated problems. Illustrative examples are discussed, showing the validity of the current method. The attractive and straightforward procedure of the present method suggests that this method can easily be extended for the solutions of other nonlinear fractional-order partial differential equations.

scholarly journals An evolutionary approach to the vehicle route planning in e-waste mobile collection on demand

2021 ◽  
Vol 25 (8) ◽  
pp. 6665-6680
Author(s):  
Krzysztof Szwarc ◽  
Piotr Nowakowski ◽  
Urszula Boryczka
Keyword(s):  
Tabu Search ◽  
Quality Evaluation ◽  
Memetic Algorithm ◽  
Route Planning ◽  
Memetic Algorithms ◽  
Approximate Methods ◽  
On Demand ◽  
Suboptimal Solutions ◽  
Novel Method ◽  
The Given

AbstractThe article discusses the utilitarian problem of the mobile collection of waste electrical and electronic equipment. Due to its $$\mathcal {NP}$$ NP -hard nature, implies the application of approximate methods to discover suboptimal solutions in an acceptable time. The paper presents the proposal of a novel method of designing the Evolutionary and Memetic Algorithms, which determine favorable route plans. The recommended methods are determined using quality evaluation indicators for the techniques applied herein, subject to the limits characterizing the given company. The proposed Memetic Algorithm with Tabu Search provides much better results than the metaheuristics described in the available literature.

Automatic Parametric Modeling From Non-Feature Based Designs for Additive Manufacturing

2021 ◽  
Author(s):  
Xinyi Xiao ◽  
Byeong-Min Roh
Keyword(s):  
Additive Manufacturing ◽  
3D Models ◽  
Parametric Modeling ◽  
Parametric Models ◽  
Performance Simulation ◽  
Cad Modeling ◽  
3D Cad ◽  
Feature Based ◽  
And Performance ◽  
The Given

Abstract The integration of Topology optimization (TO) and Generative Design (GD) with additive manufacturing (AM) is becoming advent methods to lightweight parts while maintaining performance under the same loading conditions. However, these models from TO or GD are not in a form that they can be easily edited in a 3D CAD modeling system. These geometries are generally in a form with no surface/plane information, thus having non-editable features. Direct fabricate these non-feature-based designs and their inherent characteristics would lead to non-desired part qualities in terms of shape, GD&T, and mechanical properties. Current commercial software always requires a significant amount of manual work by experienced CAD users to generate a feature-based CAD model from non-feature-based designs for AM and performance simulation. This paper presents fully automated shaping algorithms for building parametric feature-based 3D models from non-feature-based designs for AM. Starting from automatically decomposing the given geometry into “formable” volumes, which is defined as a sweeping feature in the CAD modeling system, each decomposed volume will be described with 2D profiles and sweeping directions for modeling. The Boolean of modeled components will be the final parametric shape. The volumetric difference between the final parametric form and the original geometry is also provided to prove the effectiveness and efficiency of this automatic shaping methodology. Besides, the performance of the parametric models is being simulated to testify the functionality.

A 3D CAD model input pipeline for REFMUL3 full-wave FDTD 3D simulator

2021 ◽  
Vol 16 (11) ◽  
pp. C11013
Author(s):  
J.M. Santos ◽  
E. Ricardo ◽  
F.J. da Silva ◽  
T. Ribeiro ◽  
S. Heuraux ◽  
...  
Keyword(s):  
Vessel Wall ◽  
Thermal Protection ◽  
Interface Problem ◽  
Cad Model ◽  
Fusion Plasma ◽  
3D Cad ◽  
Full Wave ◽  
Wall Structures ◽  
Design Cycle ◽  
Cad Models

Abstract The use of advanced simulation has become increasingly more important in the planning, design, and assessment phases of future fusion plasma diagnostics, and in the interpretation of experimental data from existing ones. The design cycle of complex reflectometry systems, such as the ones being planned for next generation machines (IDTT and DEMO), relies heavily on the results produced by synthetic diagnostics, used for system performance evaluation and prediction, both crucial in the design process decision making. These synthetic diagnostics need realistic representations of all system components to incorporate the main effects that shape their behavior. Some of the most important elements that are required to be well modelled and integrated in simulations are the wave launcher structures, such as the waveguides, tapers, and antennas, as well as the vessel wall structures and access to the plasma. The latter are of paramount importance and are often neglected in this type of studies. Faithfully modelling them is not an easy task, especially in 3D simulations. The procedure herein proposed consists in using CAD models of a given machine, together with parameterizable models of the launcher, to produce a description suited for Finite Difference Time Domain (FDTD) 3D simulation, combining the capabilities of real-world CAD design with the power of simulation. However, CAD model geometric descriptions are incompatible with the ones used by standard FDTD codes. CAD software usually outputs models in a tessellated mesh while FDTD simulators use Volumetric Pixel (VOXEL) descriptions. To solve this interface problem, we implemented a pipeline to automatically convert complex CAD models of tokamak vessel components and wave launcher structures to the VOXEL input required by REFMUL3, a full wave 3D Maxwell FDTD parallel code. To illustrate the full procedure, a complex reflectometry synthetic diagnostic for IDTT was setup, converted and simulated. This setup includes 3 antennas recessed into the vessel wall, for thermal protection, one for transmission and reception, and two just for reception.

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