로보틱 워크셀을 위한 그래픽 시뮬레이터의 구성에 관한 연구

A Study on the Design of the Graphic Simulator for a Robotic Workcell

  • 이상무 (대우중공업㈜중앙연구소) ;
  • 이범희 (서울대 공대 제어계측공학과) ;
  • 고명삼 (서울대 공대 제어계측공학과)
  • 발행 : 1990.04.01

초록

This paper presents the development of the graphic simulator for an assembly workcell. The assembly workcell consists of two PUMA 560 manipulators, a conveyor belt system, a work table, and a vision sensor. In this study, the Petri Net theory is applied to model the assembly workcell and to construct the simulator. The event scheduling approach is used to simulate the cell. In order to show the graphic display of the simulation process, robot modelling, component modelling, and world modelling are included. The developed simulator is used to display the transition of the system state during the simulation. It is also used as a tool in selection the best resource states by studying the performance of the system as the resource states are changed.

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