Framework design using the robotic augmented reality for the cyberphysical system

摘要

In the context of Industry 4.0, many advanced technologies have been investigated to enhance the high performance for the presently robotic system. In this paper, a novel concept to communicate between cyber model and physical hardware via augmented reality (AR) technique is introduced. In respect to hardware configuration, both forward kinematics and inverse kinematics are described to control the robot correctly. In addition, some components in practical hardware are briefly depicted. For the cyber framework, the control algorithm as well as simulation software are established in the virtual environment. To validate the proposed design, the cyber model and physical hardware using our framework are simulated and experimented. From these results, it can be seen clearly that our approach is effective and feasible for the practical applications.