Computer Simulation of Human-Robot Collaboration in the Context of Industry Revolution 4.0

Abstract

The essential role of robot simulation for industrial robots, in particular the collaborative robots is presented in this chapter. We begin by discussing the robot utilization in the industry which includes mobile robots, arm robots, and humanoid robots. The author emphasizes the application of collaborative robots in regard to industry revolution 4.0. Then, we present how the collaborative robot utilization in the industry can be achieved through computer simulation by means of virtual robots in simulated environments. The robot simulation presented here is based on open dynamic engine (ODE) using anyKode Marilou. The author surveys on the use of dynamic simulations in application of collaborative robots toward industry 4.0. Due to the challenging problems which related to humanoid robots for collaborative robots and behavior in human-robot collaboration, the use of robot simulation may open the opportunities in collaborative robotic research in the context of industry 4.0. As developing a real collaborative robot is still expensive and time-consuming, while accessing commercial collaborative robots is relatively limited; thus, the development of robot simulation can be an option for collaborative robotic research and education purposes.

Design of an Adaptive Super-Twisting Control for the Cart-Pole Inverted Pendulum System

“…Moreover, this virtual simulation can also be applied to the research proposed as given in [23] where the proposed teaching robot algorithm is tested in a virtual robot experimentation platform (V-REP). This similar idea can be found in [22] [24] for a brain-computer interface to control the wheelchair that is virtually simulated in anyKode Marilou.…”

“…In the realistic simulation presented in this paper, several embedded sensors and actuators are already provided in anykode Marilou, e.g., dc motor, encoder, accelerometer/gyroscope, etc. [22]. Thus, this computer simulation is good enough to imitate and simulate the realizing cart-pole inverted pendulum system.…”

“…there is an interface program i.e., known as Marilou Open Device Access (MODA) to implement the designed controller in realistic simulation in anyKode Marilou. This interface program can be accessed by C/C++ programming language using Microsoft Visual C++ 2008 [22]. Since this work may become an alternative solution to solve the control problem of cart-pole inverted pendulum stabilization in a realistic simulation, then this simulation can also be applied as a low-cost mechatronics system for laboratory testbed in engineering classes.…”