Combination of Robot Simulation with Real-time Monitoring and Control

• Main Authors: Jianyu YANG, Hualong XIE, Xiufeng HAN, Wanshan WANG
• Format: Article
• Language: English
• Published: IFSA Publishing, S.L. 2014-08-01
• Series: Sensors & Transducers
• Subjects: Numerical robot; Real-time monitoring; Remote operation; Virtual reality.
• Online Access: http://www.sensorsportal.com/HTML/DIGEST/august_2014/Vol_176/P_2299.pdf
• ISSN: 2306-8515; 1726-5479

The paper mainly focuses in combining virtual reality based operation simulation with remote real-time monitoring and control method for an experimental robot. A system composition framework was designed and relative arm-wheel experimental robot platform was also built. Virtual robots and two virtual environments were developed. To locate the virtual robot within numerical environments, relative mathematical methods is also discussed, including analytic locating methods for linear motion and self-rotation, as well as linear transformation method with homogeneous matrices for turning motion, in order to decrease division calculations. Several experiments were carried out, trajectory errors were found because of relative slides between the wheel and the floor, during the locating experiments. Writing-monitoring experiments were also performed by programming the robotic arm to write a Chinese character, and the virtual robot in monitoring terminal perfectly followed all the movements. All the experiment results confirmed that virtual environment can not only be used as a good supplement to the traditional video monitoring method, but also offer better control experience during the operation.