An innovative method for improvement of robotic simulation cycle time accuracy

Apostolovic, Nenad (2003) An innovative method for improvement of robotic simulation cycle time accuracy. Masters thesis, Memorial University of Newfoundland.

[English] PDF - Accepted Version Available under License - The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission. Download (3MB)

Abstract

Robotic simulations can be classified into two groups - ones provided by the robot manufacturers and the generic ones provided by the simulation software companies. Both types have advantages and disadvantages with respect to cost, accuracy, functionality and integration with other virtual manufacturing tools. -- Improvement of motion accuracy is one area of significant development of generic robotic simulations. Upon completion of the RRS I (Realistic Robotic Simulation) project, it finally became possible to use original motion and kinematics algorithms, which minimized differences between the simulated motion and real motion. However, RRS I Specification has several serious drawbacks. Not many robot manufacturers provide modules, functionality is limited and the price is high. -- Presented material proposes a new method for improvement of simulation motion time accuracy. The method is based on the assumption about the existence of factors, whose influence on motion time of the real robot can be identified and incorporated through correction factors into the simulation motion model.

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