Robot kolu uygulamaları için bir çevre modelleyici
Küçük Resim Yok
Tarih
1992
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Ege Üniversitesi
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
SUMMARY Developments in production technology directly affects developments in robot technology. Robot planning and programming systems are growing fast in order to increase the abilities of robot arms. Despite its simplicity, end-effector level programming has many problems. To solve these problems, task level programming is required. Task level programming forces the development of a general purpose planner. Because of the high logical level of a genereal purpose planner according to robot mechanics, inter-level modules must be produced seperately. Motion planner and environment modeler modules are generated because of this reason. This work deals with the environment modeler design. Environment modeler can be expressed by several sub-modules : world modeler, robot modeler, geometric modeler, message manager. World modeler sub-module is responsible of consistent mapping of physical world to computer based environment and saving geometric information of world model. At this point the solid modeling strategy becomes important. Among several modelling techniques, a suitable design method is generated from constructive solid geometry, sampling method and boundary representation. A simulation environment must also be generated for the robot arm that is to be used. This is handled by several geometric algorithms dependent of solid modeling method and robot kinematics information. The user interface that is used in environment modeler must be an efective interface between user, the planner, the robot model, 75and the total world model. The system that is developed, manages this «job by using a graphical kernel system package (GDDM). There is a continuous communication between environment modeler and the other planning modules. This communication is realized by message passing mechanism. To do this, message passing is standardized by modeling these modules as objects. These three modules are integrated as a robot arm planning system and tested on several sample inputs. Results are obtained consiquently and applied on the RHINO XR-3 series robot-arm. 76
SUMMARY Developments in production technology directly affects developments in robot technology. Robot planning and programming systems are growing fast in order to increase the abilities of robot arms. Despite its simplicity, end-effector level programming has many problems. To solve these problems, task level programming is required. Task level programming forces the development of a general purpose planner. Because of the high logical level of a genereal purpose planner according to robot mechanics, inter-level modules must be produced seperately. Motion planner and environment modeler modules are generated because of this reason. This work deals with the environment modeler design. Environment modeler can be expressed by several sub-modules : world modeler, robot modeler, geometric modeler, message manager. World modeler sub-module is responsible of consistent mapping of physical world to computer based environment and saving geometric information of world model. At this point the solid modeling strategy becomes important. Among several modelling techniques, a suitable design method is generated from constructive solid geometry, sampling method and boundary representation. A simulation environment must also be generated for the robot arm that is to be used. This is handled by several geometric algorithms dependent of solid modeling method and robot kinematics information. The user interface that is used in environment modeler must be an efective interface between user, the planner, the robot model, 75and the total world model. The system that is developed, manages this «job by using a graphical kernel system package (GDDM). There is a continuous communication between environment modeler and the other planning modules. This communication is realized by message passing mechanism. To do this, message passing is standardized by modeling these modules as objects. These three modules are integrated as a robot arm planning system and tested on several sample inputs. Results are obtained consiquently and applied on the RHINO XR-3 series robot-arm. 76
SUMMARY Developments in production technology directly affects developments in robot technology. Robot planning and programming systems are growing fast in order to increase the abilities of robot arms. Despite its simplicity, end-effector level programming has many problems. To solve these problems, task level programming is required. Task level programming forces the development of a general purpose planner. Because of the high logical level of a genereal purpose planner according to robot mechanics, inter-level modules must be produced seperately. Motion planner and environment modeler modules are generated because of this reason. This work deals with the environment modeler design. Environment modeler can be expressed by several sub-modules : world modeler, robot modeler, geometric modeler, message manager. World modeler sub-module is responsible of consistent mapping of physical world to computer based environment and saving geometric information of world model. At this point the solid modeling strategy becomes important. Among several modelling techniques, a suitable design method is generated from constructive solid geometry, sampling method and boundary representation. A simulation environment must also be generated for the robot arm that is to be used. This is handled by several geometric algorithms dependent of solid modeling method and robot kinematics information. The user interface that is used in environment modeler must be an efective interface between user, the planner, the robot model, 75and the total world model. The system that is developed, manages this «job by using a graphical kernel system package (GDDM). There is a continuous communication between environment modeler and the other planning modules. This communication is realized by message passing mechanism. To do this, message passing is standardized by modeling these modules as objects. These three modules are integrated as a robot arm planning system and tested on several sample inputs. Results are obtained consiquently and applied on the RHINO XR-3 series robot-arm. 76
Açıklama
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Anahtar Kelimeler
Bilgisayar Mühendisliği Bilimleri-Bilgisayar ve Kontrol, Computer Engineering and Computer Science and Control, Robot kolu, Robot arm, Çevre modelleyici, Environment modeler
