Supervisory control by using active virtual 3D models in-the-loop

Virtual 3D models play important role in a today factory layout design, physical modeling, control synthesis, performance analysis, dynamic simulation and visualization of real systems. In this paper, we go one step further and besides visualization, we monitor all measurable states in the real system and use active 3D models in-the-loop for real-time supervisory control. Such concept enables an event detection not possible with conventional sensors, including the ability to predict possible outcomes in the system operation. A virtual environment simulator and the way it can be connected to other simulators (e.g. Matlab/Simulink), is presented. The examples of virtual sensors, and collision free-based trajectory planning for robotic manipulators are demonstrated.