WorkCellSimulator: A 3D Simulator for Intelligent Manufacturing

Tonello, Sarah; Zanetti, Giulia; Finotto, Matteo; Bortoletto, Roberto; Tosello, Elisa; Menegatti, Emanuele

doi:10.1007/978-3-642-34327-8_29

Cited by 5 publications

(3 citation statements)

References 3 publications

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“…Most robotic simulation environments for open kinematic chains use DH parameters for geometric linkage simulations [3,5,7,22,27,30,35,37]. While DH parameter based models are quite common in robotic theory, RTS specifications do not provide this kind of information.…”

Section: Related Workmentioning

confidence: 99%

“…Based on this description, we provide the estimated (DH) parameters for an exemplary (RTS). These parameters can be used for custom or existing robotic simulators, such as Roboanalyzer [27], WorkcellSimulator [37], ABB RoboStudio [5] or OpenSim [7]. The introduced model estimation workflow can also be applied to open chain robots with comparable actuators and sensors in general.…”

mentioning

confidence: 99%

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A Complete Workflow for Automatic Forward Kinematics Model Extraction of Robotic Total Stations Using the Denavit-Hartenberg Convention

Klug

Schmalstieg

Gloor

et al. 2018

J Intell Robot Syst

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Development and verification of real-time algorithms for robotic total stations usually require hard-ware-in-the-loop approaches, which can be complex and time-consuming. Simulator-in-the-loop can be used instead, but the design of a simulation environment and sufficient detailed modeling of the hardware are required. Typically, device specification and calibration data are provided by the device manufacturers and are used by the device drivers. However, geometric models of robotic total stations cannot be used directly with existing ro-botic simulators. Model details are often treated as company secrets, and no source code of device drivers is available to the public. In this paper, we present a complete workflow for automatic geometric model extraction of robotic total stations using the Denavit-Hartenberg convention. We provide a complete set of Denavit-Hartenberg parameters for an exemplary ro-botic total station. These parameters can be used in existing robotic simulators without modifications. Furthermore, we analyze the difference between the extracted geometric model, the calibrated model, which is used by the device drivers, and the standard spherical representation for 3D point measurements of the device.

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Section: Related Workmentioning

confidence: 99%

mentioning

confidence: 99%

A Complete Workflow for Automatic Forward Kinematics Model Extraction of Robotic Total Stations Using the Denavit-Hartenberg Convention

Klug

Schmalstieg

Gloor

et al. 2018

J Intell Robot Syst

View full text Add to dashboard Cite

show abstract

“…In order to save time during the inspection strategy setup, the authors decided to simulate the process. With this aim, the proposed system has been engineered and integrated as a module of an offline simulator, called WorkCellSimulator [11]. The software, developed by IT+Robotics, is able to simulate robots tasks in industrial environments allowing the definition of specific automated cells for customized production processes, the robot off-line programming, the examination of robots and work cell machineries proper functioning, and the plan transfer into the real world.…”

Section: Introductionmentioning

confidence: 99%

A Constraint Based Motion Optimization System for Quality Inspection Process Improvement

Boscolo

Tosello

Tonello

et al. 2014

Simulation, Modeling, and Programming for Autonomous Robots

Self Cite

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This paper presents a motion optimization system for an industrial quality inspection process where a vision device coupled with a manipulator robot arm is able to perform quality and completeness inspection on a complex solid part. In order to be deployed in an industrial production plant, the proposed system has been engineered and integrated as a module of an offline simulator, called WorkCellSimulator, conceived to simulate robot tasks in industrial environments. The novelty of the paper concerns the introduction of time constraints into the motion planning algorithms. Then, these algorithms have been deeply integrated with artificial intelligence techniques in order to optimize the inspection cycle time. This integration makes the application suitable for time-constrained processes like, e.g., autonomous industrial painting or autonomous thermo-graphic detection of cracks in metallic and composite materials

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Smart Check 3D: An Industrial Inspection System Combining 3D Vision with Automatic Planning of Inspection Viewpoints

Carlon

Boscolo

Tonello

et al. 2015

Integrated Imaging and Vision Techniques for Industrial Inspection

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In this chapter, we describe an industrial inspection system composed by a 3D vision system, mounted on a manipulator robot arm, able to perform quality and completeness inspection on a complex solid part. The novelty of the system is in the deep integration among three software modules: the visual inspection system, the 3D simulation software, and the motion planning engine of the manipulator robot. This enables an automatic off-line programming of the robot path by specifying in the system the desired inspection tasks. The system automatically generates the needed points of view in order to perform 3D reconstruction and automatic visual inspection. Moreover, the motion planning system can reorder the inspection points in order to optimize the inspection cycle time. The core of this system was developed in the European Project "Thermobot," and currently, it is been engineered to be deployed in an industrial production plant.

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WorkCellSimulator: A 3D Simulator for Intelligent Manufacturing

Cited by 5 publications

References 3 publications

A Complete Workflow for Automatic Forward Kinematics Model Extraction of Robotic Total Stations Using the Denavit-Hartenberg Convention

A Complete Workflow for Automatic Forward Kinematics Model Extraction of Robotic Total Stations Using the Denavit-Hartenberg Convention

A Constraint Based Motion Optimization System for Quality Inspection Process Improvement

Smart Check 3D: An Industrial Inspection System Combining 3D Vision with Automatic Planning of Inspection Viewpoints

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