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.
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 language | English |
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Publication status | Published - 13 May 2024 |
MoE publication type | Not Eligible |
Event | 2024 IEEE International Conference on Robotics and Automation - PACIFICO Yokohama, Yokohama, Japan Duration: 13 May 2024 → 17 May 2024 https://2024.ieee-icra.org/ |
Conference
Conference | 2024 IEEE International Conference on Robotics and Automation |
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Abbreviated title | ICRA |
Country/Territory | Japan |
City | Yokohama |
Period | 13/05/24 → 17/05/24 |
Internet address |
Keywords
- Digital twin
- Safety
- Projected Augmented Reality