Session: 03-11-01: Future of Smart Manufacturing

Paper Number: 142320

142320 - Ccd Ik Implementatsion in Unity for Finding the Angles of Industrial Robots' Links 

The nature of the industry has undergone significant development over the past decade, moving towards digital production influenced by the concept of Industry 4.0. This development has been facilitated by the easy accessibility and relatively simple implementability of various technologies. Nearly all manufacturing processes are now robotized to increase and enhance productivity and quality. However, the process of robotization is complex, requiring consideration of various predetermined aspects, particularly concerning safety from a human perspective, where the process must be safe for humans. Nowadays, it is possible to employ simulation environments with digital avatars, providing a highly accurate digital replica of the real environment, taking into account various real-life physical dimensions. A major bottleneck in the design of the robotization process is achieving precise and realistic movement using inverse kinematics functionality. Analytical approaches are commonly used, necessitating the creation of specific mathematical formulas for each industrial robot model and are applicable only when working with the given robot or similar industrial robots. This paper focuses on the CCD IK implementation. The aim of this implementation is to determine the correct angles of the robot's joints based on the end-effector's position in Cartesian space, also considering the end-effector's rotation. The IK problem-solving implementation created is applicable to industrial robots with different degrees of freedom. The paper compares the created implementation with similar IK approaches.

 

Presenting Author: Karle Nutonen Tallinn University of Technology

Presenting Author Biography: Karle Nutonen graduated from Tallinn University of Technology (Taltech) in 2021 with a Master's degree in Business Information Technology. In the same year, Karle Nutonen started her PhD studies focusing on the development of an artificial intelligence/machine learning based framework for knowledge and skills transfer in robotic processes between virtual and real environments. Since 2021, K. Nutonen has been involved in the development activities of the Virumaa Digitalisation and Green Technologies Innovation Centre (ViruTech). The main objective of this centre is to provide research and development services to companies. K. Nutonen's area of responsibility at the centre covers topics such as digital twins, industrial robots and the application of virtual and augmented reality technologies. K. Nutonen is currently a third year PhD student.

Authors:

Karle Nutonen Tallinn University of Technology
Vladimir Kuts Tallinn University of Technology
Tauno Otto Tallinn University of Technology