Porting Experiment of Robotic Machining Application Using ORiN SDK and Design of 3D Printer-like Data Interface
Porting Experiment of Robotic Machining Application Using ORiN SDK and Design of 3D Printer-like Data Interface
复制标题
使用 ORiN SDK 的机器人加工应用移植实验及类 3D 打印机数据接口设计
DOI：
10.1007/978-3-319-31293-4_46
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Maki K. Habib
中科院分区：
文献类型：
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作者：
Fusaomi Nagata;Shohei Hayashi;Shingo Yoshimoto;Akimasa Otsuka;Keigo Watanabe;Maki K. Habib
截至目前，具有开放式架构的工业机器人已应用于机械加工、打磨和抛光等多种需要高技能的任务。作为显着成果之一，开放式架构允许用户侧的系统工程师设计反馈控制系统来开发机器人应用程序。然而，即使具有开放架构，将应用软件移植到不同制造商的工业机器人中也并不容易，因为基于PC的控制器和机器人之间的接口规范尚未标准化。在本文中，尝试使用 ORiN（网络开放机器人/资源接口）中间件接口轻松移植机器人应用程序。该应用是加工机器人中使用的具有振动运动的轨迹跟踪控制器。首先，通过加工实验检查平坦表面上不需要的尖头痕迹的可去除性。然后，在名为 WINCAPS III 的仿真环境上评估控制器在带有 ORiN SDK（软件开发套件）的小型教育机器人 VE026A 中的可移植性。最后，提出了一个类似 3D 打印机的接口，用于基于 STL 数据控制加工机器人。介绍了设计、实现和实验结果。
Up to now, industrial robots with an open architecture have been applied to several tasks requiring high skills such as machining, sanding, and polishing. As one of the notable results, the open architecture allows system engineers at user side to design a feedback control system to develop robotic applications. However, porting of an application software into different makers’ industrial robots is not easy even though having an open architecture, because the specifications of interface between PC-based controllers and robots are not standardized yet. In this paper, easy transplantation of a robotic application is tried by using ORiN (Open Robot/Resource interface for the Network) middleware interface. The application is the trajectory-following controller with vibrational motion used in a machining robot. First, the removability of undesirable cusp marks on a flat surface is examined through machining experiments. Then, portability of the controller into a small-sized educational robot VE026A with ORiN SDK (Software Development Kit) is evaluated on a simulation environment called WINCAPS III. Finally, a 3D printer-like interface is proposed for the machining robot to be controlled based on STL data. The design, implementation, and experimental results are presented.