Porting experiment of robotic machining application using ORiN SDK and design of 3D printer-like interface

Fusaomi Nagata, Shohei Hayashi, Shingo Yoshimoto, Akimasa Otsuka, Keigo Watanabe, Maki K. Habib

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Up to now, industrial robots with an open architecture have been applied to several tasks requiring high skills such as machining, sanding, and polishing. As one of the notable results, the open architecture allows system engineers at user side to design a feedback control system to develop robotic applications. However, porting of an application software into different makers’ industrial robots is not easy even though having an open architecture, because the specifications of interface between PC-based controllers and robots are not standardized yet. In this paper, easy transplantation of a robotic application is tried by using ORiN (Open Robot/Resource interface for the Network) middleware interface. The application is the trajectoryfollowing controller with vibrational motion used in a machining robot. First, the removability of undesirable cuspmarks on a flat surface is examined through machining experiments. Then, portability of the controller into a small-sized educational robot VE026A with ORiN SDK (Software Development Kit) is evaluated on a simulation environment calledWINCAPS III. Finally, a 3D printer-like interface is proposed for the machining robot to be controlled based on STL data. The design, implementation, and experimental results are presented.

Original languageEnglish
Title of host publicationRobot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications
PublisherSpringer Verlag
Pages563-579
Number of pages17
Volume447
ISBN (Print)9783319312910
DOIs
Publication statusPublished - 2017
Event4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015 - Bucheon, Korea, Republic of
Duration: Dec 14 2015Dec 16 2015

Publication series

NameAdvances in Intelligent Systems and Computing
Volume447
ISSN (Print)21945357

Other

Other4th International Conference on Robot Intelligence Technology and Applications, RiTA 2015
CountryKorea, Republic of
CityBucheon
Period12/14/1512/16/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Porting experiment of robotic machining application using ORiN SDK and design of 3D printer-like interface'. Together they form a unique fingerprint.

  • Cite this

    Nagata, F., Hayashi, S., Yoshimoto, S., Otsuka, A., Watanabe, K., & Habib, M. K. (2017). Porting experiment of robotic machining application using ORiN SDK and design of 3D printer-like interface. In Robot Intelligence Technology and Applications 4 - Results from the 4th International Conference on Robot Intelligence Technology and Applications (Vol. 447, pp. 563-579). (Advances in Intelligent Systems and Computing; Vol. 447). Springer Verlag. https://doi.org/10.1007/978-3-319-31293-4_46