NDLI: Robotic modeling and simulation of palletizer robot using Workspace5

Content Provider	IEEE Xplore Digital Library
Author	Johari, N.A.M. Haron, H. Jaya, A.S.M.
Copyright Year	2007
Description	Author affiliation: Dept. of Modeling & Ind. Comput., Univ. Teknol. Malaysia, Skudai (Johari, N.A.M.; Haron, H.; Jaya, A.S.M.)
Abstract	Employment of robots in manufacturing has been a value-added entity in a manufacturing industry. Robotic simulation is used to visualize entire robotic application system, to simulate the movement of robot arm incorporated with components consist in its environment and to detect collision between the robot and components. This paper presents result of a project in implementing a computer based model to simulate Okura A1600 palletizer robot. The application uses Okura A1600 robot for palletizing bags at the end of the production line and focuses on pick-and-place application. The project objective is to generate a computer simulated model to represent the actual robot model and its environment. The project simulates the robot's first four joints, namely as the waist, shoulder, elbow and waist and focuses on the position of the robot's end effector, regardless its orientation. Development of the model is using Workspace5 as a simulation tool. Two types of methodology are used, which are the methodology for developing the robotic workcell simulation model and the methodology for executing the robotic simulation. The output of the project will be a three-dimensional view of robot arm movement based on series of predefined geometry points, layout checking and robot's reachability by generating working envelope, collision and near miss detection, and monitoring on the cycle time upon completing a task. The project is an offline programming and no robot language is generated.
Starting Page	217
Ending Page	222
File Size	739217
Page Count	6
File Format	PDF
ISBN	0769529283
DOI	10.1109/CGIV.2007.73
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-08-14
Publisher Place	Thailand
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Visualization Computational modeling Computer simulation CAD Application software Manufacturing industries Service robots Simulation Employment Production Workspace5 End effectors Robotic modeling Elbow
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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