Digitaltwin of a Robot cell with Projected AR of Dynamic Safety zones in a Pick'n Place task context

Research output: Contribution to conferenceOther conference contributionScientificpeer-review

Abstract

The project consists of creating a digital twin of a robot cell. The cell includes dynamic safety zones that are projected to the operator as augmented reality. The context of the demo is a pick and place task performed by the UR10e robot.
The digital twin of the robot cell is produced in Solidworks but operated in Unity. The kinematic model of the robot provides chain to move the manipulator, and the Unity model updates its joint values according to the physical counterpart. The robot cell populates a pointcloud, which is formulated with a Trimble X7 scanner of the physical room.
The Unity environment works as a server and the robot cell as a client. Pose of the virtual cube is updated as the physical robot checks the workspace for a cube with a wrist camera. The Unity environment functions under physics that are managed by AGX Dynamics.
The cobot cell includes a safety scanner, which detects motion on a specified warning and detection areas. The dynamic safety configuration of the scanner is parsed in Unity and visualised for the operator with a projector. When areas are clear, the robot continues its task automatically.
Original languageEnglish
Publication statusPublished - 13 May 2024
MoE publication typeNot Eligible
Event2024 IEEE International Conference on
Robotics and Automation
- PACIFICO Yokohama, Yokohama, Japan
Duration: 13 May 202417 May 2024
https://2024.ieee-icra.org/

Conference

Conference2024 IEEE International Conference on
Robotics and Automation
Abbreviated titleICRA
Country/TerritoryJapan
CityYokohama
Period13/05/2417/05/24
Internet address

Keywords

  • Digital twin
  • Safety
  • Projected Augmented Reality

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