fanuc lr-mate 200i

COMPARISON OF JAVA-3D AND MATLAB SIMULINK PROGRAMMING LANGUAGE IN INDUSTRIAL ROBOT

SIMULATION SOFTWARE (RSS) DEVELOPMENT

Fanuc LR-mate 200i

Mitsubishi RV-2AJ

Prepared by:

Arya Wirabhuana

DEPARTMENT OF INDUSTRIAL ENGINEERING FACULTY OF SCIENCE AND

TECHNOLOGY SUNAN KALIJAGA STATE ISLAMIC UNIVERSITY OF YOGYAKARTA

Friday, September 20th 2007

ABSTRACT : At a glance …

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.

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 Java Programming Language.

Keywords :

•Robot Arms Simulation Software

•Matlab

•Java

Comparison :

•Software capability

•Facility in interface development

•Simulation control

•Memory requirement

•Virtual memory requirement

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.

INDUSTRIAL ROBOT IN PRACTICES…

Assembly process…

Painting process…

Painting robot

INDUSTRIAL ROBOT IN PRACTICES…

Picking component

Welding Operation

ROBOT ARM SPECIFICATION

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.

Elbow

Shoulder

Waist

Base

There are Five common configurations of Industrial Robot arm are Cartesian, sphere, revolute, cylinder and Selective Compliant Articulated/Assembly Robot Arm (SCARA).

INDUSTRIAL ROBOT CONFIGURATION…

Cartesian Robot….

Three Axis linear movements : x, y, z


SPERE Robot….

Spere Robot in Moulding Industry

Two rotating and one linear movements


REVOLUTATE Robot….Three rotating movements


CYLINDER Robot….

Two LINEAR and one Rotating movements


SCARA Robot….

Selective Compliant Articulated/Assembly Robot Arm (Mixed Configuration)

INDUSTRIAL ROBOT ELEMENTS…

Elbow

Shoulder

Waist

Base

Gripper

GRIPPER

ROBOT SIMULATION SOFTWARE (RSS)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

Emphasized by Bernhardt et.al (95)

FRAMEWORK OF RSS

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.

Elbow

Shoulder

Waist

Base

Mitsubishi R2-AJ Simulation Software

PROGRAMMING LANGUAGE IN RSS DEVELOPMENT

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,

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 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.

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

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.

ROBOT SIMULATION USING JAVA 3D CON’T

Input Box

On-line Movement

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.

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

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.

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…..

fanuc lr-mate 200i

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