Abstract
This paper presents a structured application with virtual environments that emulate industrial processes that interact with the virtualized ScorBot ER-4U robot with the help of CAD software and texturing using other software. The manipulator is controlled from Matlab in response to the established modeling, communication is generated in two ways since both the real and the virtual manipulator act at the same time. Manipulator libraries allow data to be obtained in the encoders located in each motor and set the manipulator in a desired position. The real movement is replicated in the virtual environment for which a shared memory is used that allows access to a record inside the RAM of the computer that can be accessed from any program once in dynamic-link library (dll) is loaded.
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Acknowledgements
The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia–CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-XI-2017-06; Control Coordinado Multi-operador aplicado a un robot Manipulador Aéreo; also to Universidad de las Fuerzas Armadas ESPE, Universidad Técnica de Ambato, Escuela Superior Politécnica de Chimborazo, Universidad Nacional de Chimborazo, and Grupo de Investigación ARSI, for the support to develop this work.
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Andaluz, V.H., Pérez, J.A., Carvajal, C.P., Ortiz, J.S. (2019). Virtual Environment for Teaching and Learning Robotics Applied to Industrial Processes. In: De Paolis, L., Bourdot, P. (eds) Augmented Reality, Virtual Reality, and Computer Graphics. AVR 2019. Lecture Notes in Computer Science(), vol 11614. Springer, Cham. https://doi.org/10.1007/978-3-030-25999-0_36
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