A. Díaz-Andrade, 2 J. Álvarez-Cedillo, 3 J. Herrera-Lozada, 4 I. Rivera-Zarate
1,2,3,4
Instituto Politécnico Nacional (IPN), Centro de Innovación y Desarrollo Tecnológico en Cómputo (CIDETEC), Departamento de
Procesamiento Paralelo, Av."Juan de Dios Bátiz" s/n esq. Miguel Othón de Mendizábal, Col. Nueva Industrial Vallejo, Del. Gustavo A.
Madero, México, D.F., C.P. 07700. Tel. 5729-6000 Ext. 52516
ABSTRACT
This paper describes the development of a virtual system that operates a robotic arm for educational purposes, the system allows to visualize in a synthetic environment to this robot and send signals through the USB port to replicate the movements in the real model. It addresses the solution to the problem of achieving a portable and multiplatform system.
This solution is supported in Blender software, enabling the generation of real-time 3D graphics and in embedded system
Arduino as an interpreter between the computer and the robot. It shows tests and results with respect to software and hardware. Keywords: Computer graphics, robotic arm, control, modeling, electronics, Arduino, Blender, simulation.
1. INTRODUCTION
New trends in robotics encourage the development of modern systems extending its use in various fields and giving cost benefits, time and safety.
The use of virtual environments is common in the control of robot manipulators, is a flexible and affordable solution that offers a wide range of scientific applications based on experimentation and learning.
It is very clear what is to be achieved in the project: simplify handling of robot improving operator vision, work fast graphics processing to achieve a realtime simulation and especially the environment be efficient. Make use of 3D visualization can instantly see a virtual image of the real operation through angles that can’t sees being with the robot, nor televised images could be achieved so easily.
2. RELATED WORK
Many studies were performed to generate simulation tools of remote robots, using graphical environments only as a preview for decision-making, as is the case augmented telerobotic control of the University of Toronto, Rastogi et al [11], where a stereographical model of the robot overlaid on stereovideo images from the remote site, is used to manipulate the objects visible in stereovideo, to perform the task simulation. In this system, the update rate of video images can be lower since the video from the remote site updates only the change in state of remote task space, instead of providing visual feedback for direct manual control of the robot.
In 2003 DND Kottege University of Colombo
(Sri Lanka) created as a thesis project, a computer program to simulate features of a real robot manipulator, which feels a virtual robotic arm to mimic the kinematics of six axes of freedom and well reproduced in the robot’s movements through the computer’s serial port [9].
Although the implementation of this project is very interesting, the graphics of the interface control are fairly rudimentary. This article aims to show to the operator a realtime virtual representation of the current state of the real robot, enabling it to react instantly.
Applications and workspaces Remoting or remote control are diverse and bring many benefits to the solution of various problems, allowing the reduction of cost, time and risk, since they are used in high-risk operations for interacting directly. Security has been a major theme in the control of remote devices, a situation that can be seen in “Advanced Virtual Reality
Technologies Applied to Surveillance and Security
Applications”, which allows control of surveillance cameras Augmented Virtual Reality making use of an immersion cabin, thereby distance controlling the safety of more than one site [10].
In China
