Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
권호 표지

Development of high precision multi arms robot system consist of two robot arms and multi sensors

복수개의 로보트와 다중센서를 이용한 정밀조립용 로보트 시스템 개발에 관한 연구

  • Lim, Mee-Seub (Control Systems Labs. Korea Institute of Science and Technology) ;
  • Cho, Young-Jo (Control Systems Labs. Korea Institute of Science and Technology) ;
  • Lee, Joon-Soo (Control Systems Labs. Korea Institute of Science and Technology) ;
  • Park, Jeung-Min (Control Systems Labs. Korea Institute of Science and Technology) ;
  • Kim, Kwang-Bae (Control Systems Labs. Korea Institute of Science and Technology)
  • 임미섭 (한국 과학 기술 연구원 제어시스템 연구실) ;
  • 조영조 (한국 과학 기술 연구원 제어시스템 연구실) ;
  • 이준수 (한국 과학 기술 연구원 제어시스템 연구실) ;
  • 박정민 (한국 과학 기술 연구원 제어시스템 연구실) ;
  • 김광배 (한국 과학 기술 연구원 제어시스템 연구실)
  • Published : 1992.07.23
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Abstract

In this paper, we are designed a hierachical system controller and builed a robot system for high precision assembly consisting in multi-arms and multi-sensor. For the control of a multi-arms robot system, the robot system are consisted of cell controller, station controller and device. The Operating System of a cell controller is VxWorks for real-time multi-processing. Using by C-language, we are proposed a multi-arms robot control language based a RCCL, and this control language is partially implemented and tested in multi-robot control system.

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