Virtual Environment for Teaching and Learning Robotics Applied to Industrial Processes

Abstract:

This paper presents a structured application with virtual environments that emulate industrial processes that interact with the virtualized ScorBot ER-4U robot with the help of CAD software and texturing using other software. The manipulator is controlled from Matlab in response to the established modeling, communication is generated in two ways since both the real and the virtual manipulator act at the same time. Manipulator libraries allow data to be obtained in the encoders located in each motor and set the manipulator in a desired position. The real movement is replicated in the virtual environment for which a shared memory is used that allows access to a record inside the RAM of the computer that can be accessed from any program once in dynamic-link library (dll) is loaded.

Año de publicación:

2019

Keywords:

• Manipulator kinematic model
• Trajectory tracking
• Shared memory
• Virtualization

Fuente:

scopus

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