ROS-Unity3D based system for monitoring of an industrial robotic process

Sita, Enrico; Horv�th, Csongor M�rk; Thomessen, Trygve; Korondi, P�ter; Pipe, Anthony G.

Abstract

© 2017 IEEE. Planning and monitoring the manufacturing of high quality one-of-a-kind products are challenging tasks. In the implementation of an industrial system, the commissioning phase is typically comprised of a programming phase and an optimization phase. Most of the resources are commonly invested in the optimization of the process. The time and cost of the implementation can be reduced if the monitoring system is not embedded in the industrial process, but kept instead as a decoupled task. In this paper we present a framework to simulate and execute the monitoring task of an industrial process in Unity3D, without interfering with the original system. The monitoring system is made of external additional equipment and is decoupled from the industrial task. The monitoring robot's path is subject to multiple constraints to track the original process without affecting its execution. Moreover, the framework is flexible thanks to the Unity-ROS communication so that the monitoring task can be carried on by any ROS-compatible device. The monitoring system has been applied to a robotic system for heavy, multi-pass TIG welding of voluminous work-pieces. The results of the implementation show that the constraints for monitoring were satisfactory in the 3D environment and capable for real robot application.

• Presentation Conference Type: Conference Paper (published)
• Conference Name: SII 2017 - 2017 IEEE/SICE International Symposium on System Integration
• Start Date: Dec 11, 2019
• End Date: Dec 14, 2019
• Acceptance Date: Oct 14, 2017
• Publication Date: Feb 1, 2018
• Deposit Date: Feb 13, 2018
• Publicly Available Date: Mar 6, 2018
• Volume: 2018-January
• Pages: 1047-1052
• DOI: https://doi.org/10.1109/SII.2017.8279361
• Keywords: monitoring, welding, task analysis, service robots, solid modeling, three-dimensional displays
• Public URL: https://uwe-repository.worktribe.com/output/875951
• Publisher URL: http://dx.doi.org/10.1109/SII.2017.8279361
• Additional Information: Additional Information : (c) 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.; Title of Conference or Conference Proceedings : IEEE/SICE International Symposium on System Integration (SII 2017)