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Fundamentals of Robotics
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The tangible and intangible benefits of robotic simulation for manufacturing development are rapidly becoming evident in industry. The use of such systems requires an understanding of the appropriate components that synthesise and compose a simulation model. The principle objective of this chapter is to provide a comprehensive overview of these simulation components. Particular attention is made to the history of computer simulation, the fundamentals of robotics, the ABB IRB2400_10 robot and the simulation-robot relationship. The robotic simulation package Workspace 5 is introduced along with its key navigation suggestions. Finally, the structure of this dissertation is defined. 2.1 The History of Simulation Simulation involves the imitation of conditions of situations for the purpose of training or predicting outcomes. The earliest documented use of simulation by man for training dates back to military training by the Roman Empire. Soldiers utilised a tree trunk to practice sword strokes on foot. Apparatus that replicated environmental conditions were developed allowing training to progress to practicing sword strokes in a boat and on horseback along with developing a six-foot wooden figure of an enemy soldier armed with a shield and sword. Simulation for military training has developed through the ages and continues to be a key technique for training and predicting outcomes today. The methodology is applied to the definition of simulation in the 21st century. That is, simulation is a technique for imitating some behaviour of some situation of a process by means of a suitable analogous situation or apparatus. Modern simulators have been developed to acquire the skill necessary to control movement and processes. Such examples include the motion of an aircraft, automobile and ships or the processes of air traffic control and atomic power. Early simulation schemes have branched off into many areas, the most prominent use has been in the field of medicine. However, in manufacturing, simulation is increasingly being used as a tool to increase production capacity, and workplace safety. Visualization and graphics have undoubtedly made a huge impact on all simulation companies. Easy-to-use modelling has resulted in low-priced packages that would have been unthinkable a few years ago. Simulation is no longer just the domain of academics. The history of computer simulation dates back to World War II when two mathematicians, Jon Von Neumann and Stanislaw Ulam, were required to investigate the baffling problem of neutron behaviour. Trial and error experiments were costly and the problem was too complicated for analysis. Hence, the Roulette wheel technique was suggested by the mathematicians [online]. The basic data regarding the occurrence of events were known, into which the probabilities of separate events were emerged in a systematic analysis to predict the outcome of the whole sequence of events [online]. With the remarkable success of the technique, its emerging popularity found many applications in business and industry. In post-war times, new technologies that were developed for military purposes during the war began to emerge as problem-solving tools in the business world. In the late 1940's and 50's analogue and digital commercially designed computers started to appear in a number of organizations. Computer simulation was not a useful tool in the 50's as simulation exploited great lengths of time to get results and required many skilled people. The result was a considerable cost in both personnel and computer time but most discouraging was that results were often ambiguous. In October 1961, IBM presented the "Gordon Simulator" to a system design company called Norden, which allowed for the distribution of weather information to general aviation. IBM provided the software and hardware and a team was able to construct a model, simulate a problem and obtain answers in only six weeks.
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