Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology

Hiroshi Seki; Katsunori Ueno; Katsuhiko Hirano

doi:doi:10.11648/j.ijmea.20210906.12

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Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology

Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano

Published in International Journal of Mechanical Engineering and Applications (Volume 9, Issue 6)

Received: 26 October 2021 Accepted: 23 November 2021 Published: 2 December 2021

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Abstract

A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.

Published in	International Journal of Mechanical Engineering and Applications (Volume 9, Issue 6)
DOI	10.11648/j.ijmea.20210906.12
Page(s)	90-97
Creative Commons	This is an Open Access article, distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution and reproduction in any medium or format, provided the original work is properly cited.
Copyright	Copyright © The Author(s), 2021. Published by Science Publishing Group

Keywords

Decommissioning, Computer Graphics, Forward Kinematics, Inverse Kinematics, Non-Uniform Rational B-Spline (NURBS) Curve

References

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[4]	Ohga, Y., Fukuda, M., Shibata, K., Kawakami, T. and Matsuzaki, T. (2005). A system for the calculation of radiation field for maintenance support in nuclear power plants. Radiation Protection Dosimetry. 116, 592-596.
[5]	Lee, J., Kim, G., Kim, I., Hyun, D., Jeong, K., Choi, B., and Moon, J. (2016). Establishment of the framework to visualize the space dose rates on the dismantling simulation system based on a digital manufacturing platform. Annals of Nuclear Energy, 95, 161-167.
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[8]	Seki, H., Imamura, M., and Nagase, H. (2020). Evaluating Precise Quantity of Decommissioning Waste by Cutting Virtual 3D Models of Large Equipment. Nuclear Science, 5, 36-43.
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[14]	Pin, F., Love, L., and Jung, D. (2004). Automated kinematic equations generation and constrained motion planning resolution for modular and reconfigurable robots. In Proceedings of the 227th ACS National Meeting.
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APA Style

Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano. (2021). Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. International Journal of Mechanical Engineering and Applications, 9(6), 90-97. https://doi.org/10.11648/j.ijmea.20210906.12

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ACS Style

Hiroshi Seki; Katsunori Ueno; Katsuhiko Hirano. Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. Int. J. Mech. Eng. Appl. 2021, 9(6), 90-97. doi: 10.11648/j.ijmea.20210906.12

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AMA Style

Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano. Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. Int J Mech Eng Appl. 2021;9(6):90-97. doi: 10.11648/j.ijmea.20210906.12

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@article{10.11648/j.ijmea.20210906.12,
  author = {Hiroshi Seki and Katsunori Ueno and Katsuhiko Hirano},
  title = {Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology},
  journal = {International Journal of Mechanical Engineering and Applications},
  volume = {9},
  number = {6},
  pages = {90-97},
  doi = {10.11648/j.ijmea.20210906.12},
  url = {https://doi.org/10.11648/j.ijmea.20210906.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijmea.20210906.12},
  abstract = {A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.},
 year = {2021}
}

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TY  - JOUR
T1  - Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology
AU  - Hiroshi Seki
AU  - Katsunori Ueno
AU  - Katsuhiko Hirano
Y1  - 2021/12/02
PY  - 2021
N1  - https://doi.org/10.11648/j.ijmea.20210906.12
DO  - 10.11648/j.ijmea.20210906.12
T2  - International Journal of Mechanical Engineering and Applications
JF  - International Journal of Mechanical Engineering and Applications
JO  - International Journal of Mechanical Engineering and Applications
SP  - 90
EP  - 97
PB  - Science Publishing Group
SN  - 2330-0248
UR  - https://doi.org/10.11648/j.ijmea.20210906.12
AB  - A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.
VL  - 9
IS  - 6
ER  -

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Author Information

Hiroshi Seki

Research and Development Group, Hitachi, Ltd., Hitachi-shi, Japan
Katsunori Ueno

Nuclear Engineering and Product Division, Hitachi-GE Nuclear Energy, Ltd., Hitachi-shi, Japan
Katsuhiko Hirano

Nuclear Engineering and Product Division, Hitachi-GE Nuclear Energy, Ltd., Hitachi-shi, Japan

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APA Style

Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano. (2021). Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. International Journal of Mechanical Engineering and Applications, 9(6), 90-97. https://doi.org/10.11648/j.ijmea.20210906.12

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ACS Style

Hiroshi Seki; Katsunori Ueno; Katsuhiko Hirano. Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. Int. J. Mech. Eng. Appl. 2021, 9(6), 90-97. doi: 10.11648/j.ijmea.20210906.12

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AMA Style

Hiroshi Seki, Katsunori Ueno, Katsuhiko Hirano. Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology. Int J Mech Eng Appl. 2021;9(6):90-97. doi: 10.11648/j.ijmea.20210906.12

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@article{10.11648/j.ijmea.20210906.12,
  author = {Hiroshi Seki and Katsunori Ueno and Katsuhiko Hirano},
  title = {Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology},
  journal = {International Journal of Mechanical Engineering and Applications},
  volume = {9},
  number = {6},
  pages = {90-97},
  doi = {10.11648/j.ijmea.20210906.12},
  url = {https://doi.org/10.11648/j.ijmea.20210906.12},
  eprint = {https://article.sciencepublishinggroup.com/pdf/10.11648.j.ijmea.20210906.12},
  abstract = {A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.},
 year = {2021}
}

Copy | Download

TY  - JOUR
T1  - Real-time Simulation Methods for Robots with a Flexible Arm Based on Computer Graphics Technology
AU  - Hiroshi Seki
AU  - Katsunori Ueno
AU  - Katsuhiko Hirano
Y1  - 2021/12/02
PY  - 2021
N1  - https://doi.org/10.11648/j.ijmea.20210906.12
DO  - 10.11648/j.ijmea.20210906.12
T2  - International Journal of Mechanical Engineering and Applications
JF  - International Journal of Mechanical Engineering and Applications
JO  - International Journal of Mechanical Engineering and Applications
SP  - 90
EP  - 97
PB  - Science Publishing Group
SN  - 2330-0248
UR  - https://doi.org/10.11648/j.ijmea.20210906.12
AB  - A robot with a flexible arm that is controlled with a remotely operated water-pressure mechanism has been developed for dismantling objects that are heavily contaminated by radioactive materials during decommissioning of nuclear power plants. The objective of this research is to develop a process planning support system and method that can improve the accuracy of estimating the time required by the robot to complete its dismantling activity, support recovery from delays, and determine the feasibility of conducting a dismantling process in the reactor building. Since the flexible arm has a more complex mechanism and shapes those that of multi-axis robots, unique movable arm structures were modeled with a tool for three-dimensional (3D) computer graphics (CG) technology. The 3D CG model was used to make valid operation sequences for planning the motion of the robot. With the help of a prototype system, motion planning can perform to calculate the duration needed for the robot to complete its operation. The calculated duration is then used for updating the planned duration of a specific activity in a dismantling schedule. To plan the robot behaviors for complex dismantling processes, a simplified planning method with few virtual controllers based on a spline inverse kinematics (IK) with a non-uniform rational B-spline (NURBS) curve for an arm comprised of pistons and cylinders pressurized by water was studied. A prototype system for planning the behaviors of the robot was evaluated, and it was confirmed that the movement trajectory of the robot and the three-dimensional isometric display could be visualized using the mesh model generated from point-cloud data used to make the environment model of the robot. It was also confirmed that the operations involved in a specific activity of the robot could be completed within the duration determined in the simulation.
VL  - 9
IS  - 6
ER  -

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