Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots

0523840 - ÚTIA 2021 RIV IT eng C - Konferenční příspěvek (zahraniční konf.)
Belda, Květoslav - Dvořák, K.
Path Modeling and 3D Robot Visualization for Model-Based Control of Articulated Robots.
Preprints of the 15th European Workshop on Advanced Control and Diagnosis (ACD 2019). Bologna: IFAC, 2019 - (Zattoni, E.), s. 1-16
[15th European Workshop on Advanced Control and Diagnosis (ACD 2019). Bologna (IT), 21.11.2019-22.11.2019]
Institucionální podpora: RVO:67985556
Klíčová slova: Siemens NX software * MATLAB/Simulink 3D Animation Toolbox * model predictive control * articulated robots * virtual reality
Obor OECD: Robotics and automatic control
http://library.utia.cas.cz/separaty/2020/AS/belda-0523840.pdf

The paper deals with the three-dimensional (3D) path modeling and visualization used in simulation of model predictive control design of industrial robots-manipulators. A one possible comprehensive procedure is introduced as a specific sequence of the following points: i) path modeling using set of control points with G-Code generation and time-parametrization. ii) construction of photo-realistic 3D virtual reality robot model including surrounding workplace. iii) 3D robot visualization using Virtual Reality Modeling Language VRML V2.0. iv) brief overview of model predictive control design and v) simulation of the control with visualization using prepared 3D virtual reality robot model. This sequence is applied to the one representative of articulated robots – ABB robot IRB 140. Siemens NX Software (points i–iii), and MATLAB/Simulink env. (points iii–v) are proposed as suitable work tools.
Trvalý link: http://hdl.handle.net/11104/0308323