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Fanuc LR-mate 200i

Friday, September 20 th 2007. Fanuc LR-mate 200i. COMPARISON OF JAVA-3D AND MATLAB SIMULINK PROGRAMMING LANGUAGE IN INDUSTRIAL ROBOT SIMULATION SOFTWARE (RSS) DEVELOPMENT. Mitsubishi RV-2AJ. Prepared by: Arya Wirabhuana.

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Fanuc LR-mate 200i

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  1. Friday, September 20th 2007 Fanuc LR-mate 200i COMPARISON OF JAVA-3D AND MATLAB SIMULINK PROGRAMMING LANGUAGE IN INDUSTRIAL ROBOT SIMULATION SOFTWARE (RSS) DEVELOPMENT Mitsubishi RV-2AJ Prepared by: Arya Wirabhuana DEPARTMENT OF INDUSTRIAL ENGINEERING FACULTY OF SCIENCE AND TECHNOLOGY SUNAN KALIJAGA STATE ISLAMIC UNIVERSITY OF YOGYAKARTA

  2. ABSTRACT : At a glance … • Keywords : • Robot Arms Simulation Software • Matlab • Java In this occasion, we will discuss on The Advent of Industrial Robot in Manufacturing Processes and also Robot Arms Simulation Software (RSS) development using two different programming languages approach which is Matlab and Java Programming Language. Comparison of how those two programming language will summarized explained through the paper and followed by the conclusions. • Comparison : • Software capability • Facility in interface development • Simulation control • Memory requirement • Virtual memory requirement This paper based on two case studies which had written by the author in simulating Mitsubishi RV-2AJ robot arms movement using Matlab and Fanuc LR-Mate200i robot which is using JavaProgramming Language.

  3. INTRODUCTION The advent of industrial robot arm has given tremendous effect on the manufacturing process. Robot arm design does not evolve drastically because it is synonym to human arm. The robot simulation software is always referred to a simulation process of the robot arm incorporated with the manufacturing environment such as conveyer, sensors, and parts.

  4. INDUSTRIAL ROBOT IN PRACTICES… Assembly process… Painting process…

  5. Painting robot

  6. INDUSTRIAL ROBOT IN PRACTICES… Picking component Welding Operation

  7. ROBOT ARM SPECIFICATION Elbow Geometry configuration refers to the dimension of the robot such as length of elbow and shoulder, and movement direction of each joint such as waist that moves along z axis. It creates the designated working environment of a robot called workspace. Five configurations are Cartesian, sphere, revolute, cylinder and Selective Compliant Articulated/Assembly Robot Arm (SCARA). Kinematics refers to the mathematical formulation to limit the robot arm movement. It can be divided into two type namely forward and inverse kinematics. Two methods to derive the kinematics formulation are using the trigonometry and matrices concepts of robot manipulator, or the Denavit-Hartenberg standard of robot arm. Shoulder Waist Base

  8. INDUSTRIAL ROBOT CONFIGURATION… There are Five common configurations of Industrial Robot arm are Cartesian,sphere, revolute, cylinder and Selective Compliant Articulated/Assembly Robot Arm (SCARA). Cartesian Robot…. Three Axis linear movements : x, y, z

  9. INDUSTRIAL ROBOT CONFIGURATION… SPERE Robot…. Two rotating and one linear movements Spere Robot in Moulding Industry

  10. INDUSTRIAL ROBOT CONFIGURATION… REVOLUTATE Robot…. Three rotating movements

  11. INDUSTRIAL ROBOT CONFIGURATION… CYLINDER Robot…. Two LINEAR and one Rotating movements

  12. INDUSTRIAL ROBOT CONFIGURATION… SCARA Robot…. Selective Compliant Articulated/Assembly Robot Arm (Mixed Configuration)

  13. INDUSTRIAL ROBOT ELEMENTS… Gripper Waist Elbow GRIPPER Shoulder Base

  14. ROBOT SIMULATION SOFTWARE (RSS) Emphasized by Bernhardt et.al (95) The importance of offline programming and simulation systems to program industrial robots that enables program creation and optimization to be shifted away from production, thereby reducing downtimes in production cells. Methods to measure the effectiveness of the production time and money are much easier using robot simulation software (RSS). Lot of researches is carried out on the movement of the joint to imitate human arm but in physical design. Familiar terms are waist, shoulder, elbow, wrist unit and gripper

  15. FRAMEWORK OF RSS Elbow There are three main menus should exist in any RSS namely degree of joint input box, the Cartesian location of robot end-effectors input box, and on-line movement using input devices such as mouse or keyboard. Shoulder Waist Base Mitsubishi R2-AJ Simulation Software

  16. PROGRAMMING LANGUAGE IN RSS DEVELOPMENT Vollmann (2002) proposed a new approach to robot simulation tools with parametric components. He proposed KUKA simulation tools i.e. a 3D simulation which is encapsulated and hidden from typical end users. The discussion is divided into five categories of programming method namely structured programming language (SPL), third party package (TPP), object-oriented programming language (OOPL), web programming language (WPL) and artificial intelligence programming language (AIPL). The future trends in RSS development can be classified into three categories namely programming language, development methodology, and user interface design. In addition, The current selection of programming tools must consider the internet programming element. Examples of latest product are Virtual Reality Tools of Matlab software, Workspace5, Java PHP, and Active Server Pages programming. The WPL trend is getting stagnant and will be replaced with AIPL trend.

  17. RSS SYSTEM DESIGN Robot design is first step in building the Robot Simulation System. Regarding to the development process efficiency and affectivity, the robot arm has to be dissembled in to several parts. In this paper, Robot component just divided into Waist, Shoulder and Elbow. The next process in robot simulation is Robot Dynamics. After all of robot component designed and formulated, they are will re-assembled to be one integrated Robot arm. The assembling process will follow all the parts environment and Robot’s workspace. The integration step in Robot Simulation is the process where as with integrating all of robot’s components

  18. ROBOT SIMULATION USING JAVA 3D Advantages : Built as an extension to the Java language, Java3D offers a high-level Application Programming Interface (API) for 3D scene description and graphical control. In this sense, it offers tight integration with a fully capable programming language. Furthermore, because it is a Java API, Java3D allows for a fully object-oriented approach to defining and controlling the virtual agent and its environment.

  19. ROBOT SIMULATION USING JAVA 3D CON’T Disadvantages of RSS using Java3D : Lack of web browser support Because of the newness of the technology, training for the user might be needed. Difficulties in exporting another 3D program to Java3D format. On-line Movement Input Box

  20. ROBOT SIMULATION USING MATLAB SIMULINK The Matlab software is used as front-end of the system, which means the interface of the system that users Can communicate with the system. The development interactive robot simulation software is using this software gives alternative to minimize the limitation of Web Programming Language (WPL) and Structured Programming Language (SPL ) The VRML & Simulink software were used to show the good graphics and interactive system. With the VRML, the output of the system was displayed in term of three dimensional objects that is equivalent with the actual robot. Meanwhile, with a Simulink, communication for controlling and manipulating of virtual realism objects is provided in the model and able to drive system simjulation

  21. ROBOT SIMULATION USING MATLAB SIMULINK CON’T Disadvantages of Matlab Simulink in RSS : The system can not be running as stand-alone application because the system was developed using more than one toolbox. It was difficult to compile the system. The system also lack of user friendly where the output of the system could not be displayed in single windows. It is quite crowded and confusing.

  22. DISCUSSION AND CONCLUSIONS Robot Simulation Software Development using Java3D and Matlab Simulink Programming language has been producing a significant result. Java3D and Matlab Simulink based Robot arm simulation software can meet the ordinary project scope of RSS development. This system may provide a flexible reprogrammable system which is also can obtain development time reducing and improving the product quality. As a new tools in RSS Development, Either Java3D or Matlab Simulink have several strength and weaknesses point as mentioned above. However, the current research and development shows that in the future both Java3D and Matlab Simulink will persist achieve the “mature” or steady-state condition that might obtain all of requirement as RSS development tools. Sorry for any inconvenience, Thank you very much for your attention…..

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