한국생산제조학회지 (Journal of the Korean Society of Manufacturing Technology Engineers)

  • 제26권1호
  • /
  • Pages.121-129
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  • 2017
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  • 2508-5093(pISSN)
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  • 2508-5107(eISSN)
한국생산제조학회 (The Korean Society of Manufacturing Technology Engineers)
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무선랜을 이용한 조립 작업 로봇의 협력 제어 시스템 구축

Foundation of Cooperative Control System of Assembly-Working Robots Using Wireless LAN

  • Park, Sang-Young (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Lee, Gui-Hyung (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 투고 : 2017.01.03
  • 심사 : 2017.02.15
  • 발행 : 2017.02.15
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초록

In this study, we investigated a cooperative control system of assembly robots using wireless LAN. We developed two different types of robots to assemble three blocks on a workbench. Robot1 can assemble blocks on a workbench and Robot2 can carry blocks to Robot1. We constructed an ROS-based communication system and shared data. Three blocks and one workbench were recognized by camera-image processing By developing the UI using Windows programming language Visual C#, we evaluated the status of the robots and blocks and controlled the robots. The control system was developed by constructing all elements necessary for cooperative control, such as robot design and fabrication, motor control, ROS-based communication, and image processing. Thus, we completed fundamental tasks required for assembly.

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참고문헌

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