TY - GEN
T1 - Porting experiment of robotic machining application using ORiN SDK and design of 3D printer-like interface
AU - Nagata, Fusaomi
AU - Hayashi, Shohei
AU - Yoshimoto, Shingo
AU - Otsuka, Akimasa
AU - Watanabe, Keigo
AU - Habib, Maki K.
N1 - Funding Information:
This work was supported by JSPS KAKENHI Grant Number 25420232.
Publisher Copyright:
© Springer International Publishing Switzerland 2017.
PY - 2017
Y1 - 2017
N2 - 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 trajectoryfollowing controller with vibrational motion used in a machining robot. First, the removability of undesirable cuspmarks 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 calledWINCAPS 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.
AB - 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 trajectoryfollowing controller with vibrational motion used in a machining robot. First, the removability of undesirable cuspmarks 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 calledWINCAPS 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.
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U2 - 10.1007/978-3-319-31293-4_46
DO - 10.1007/978-3-319-31293-4_46
M3 - Conference contribution
AN - SCOPUS:84978483846
SN - 9783319312910
T3 - Advances in Intelligent Systems and Computing
SP - 563
EP - 579
BT - Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
A2 - Karray, Fakhri
A2 - Kim, Jong-Hwan
A2 - Myung, Hyun
A2 - Jo, Jun
A2 - Sincak, Peter
PB - Springer Verlag
T2 - 4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
Y2 - 14 December 2015 through 16 December 2015
ER -