Friday, September 20th 2007
Fanuc LR-mate 200i
COMPARISON OF JAVA-3D AND MATLAB SIMULINK
PROGRAMMING LANGUAGE IN INDUSTRIAL ROBOT
SIMULATION SOFTWARE (RSS) DEVELOPMENT
Mitsubishi RV-2AJ
Prepared by:
Arya Wirabhuana
DEPARTMENT OF INDUSTRIAL ENGINEERING
FACULTY OF SCIENCE AND TECHNOLOGY
SUNAN KALIJAGA STATE ISLAMIC UNIVERSITY OF YOGYAKARTA
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
INDUSTRIAL ROBOT CONFIGURATION…
There are Five common configurations
of Industrial Robot arm are
Cartesian, sphere, revolute,
cylinder and Selective Compliant
Articulated/Assembly Robot Arm
(SCARA).
Cartesian Robot….
Three Axis linear
movements : x, y, z
INDUSTRIAL ROBOT CONFIGURATION…
SPERE Robot….
Two rotating and one
linear movements
Spere Robot in
Moulding Industry
INDUSTRIAL ROBOT CONFIGURATION…
REVOLUTATE Robot….
Three rotating
movements
INDUSTRIAL ROBOT CONFIGURATION…
CYLINDER Robot….
Two LINEAR
and one
Rotating
movements
INDUSTRIAL ROBOT CONFIGURATION…
SCARA Robot….
Selective Compliant
Articulated/Assembly Robot
Arm (Mixed Configuration)
INDUSTRIAL ROBOT ELEMENTS…
Gripper
Waist
Elbow
GRIPPER
Shoulder
Base
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.
Emphasized by
Bernhardt et.al (95)
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
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 online 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,
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.
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.
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
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.
On-line Movement
Input Box
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…..