Web-based simulation and motion planning for human-robot and multi-robot applications

Abstract

This paper introduces the human-robot and multi-robot programming and simulation capabilities of a web-based, open-source robot programming and simulation tool called Assembly. The tool supports scenarios with up to three robots and provides support for simulating human arms working closely with a robot. To facilitate the simulation of scenarios involving human-robot and robot-robot collaboration, the paper proposes an improved version of the neural network-based Adaptive Simplex Motion Planner, which is capable of performing motion planning at a rate of over 3500 Hz. The improved toolpath planner uses an obstacle avoidance approach that leverages ray casting and shadow volume teachniques. The new planner is evaluated on the basis of two human-robot and multi-robot simulation scenarios and the results are compared to those of the original algorithm.