Ethernet-based communication framework for sensor integration on industrial robots

Graaf de, M.W. and Aarts, R.G.K.M. and Meijer, J. and Jonker, J.B. (2007) Ethernet-based communication framework for sensor integration on industrial robots. In: RoboComm '07: proceedings of the 1st international conference on Robot communication and coordination. ACM. ISBN 9789639799080

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Abstract:	This paper presents a communication framework for integrating sensors in a robotic laser welding system. The framework was originally developed for the application of sensor-guided robotic laser welding, but the principles are generic, making it useful in other application areas as well. To use the sensor measurements during the robot motion, a synchronisation mechanism is presented for an image-based seam-tracking sensor that is integrated with an industrial 6-axis robot. The communication layer uses Ethernet TCP/IP communication and the synchronisation mechanism uses Ethernet UDP communication. Experimental validation is performed on industrial equipment to determine the accuracy of the proposed synchronisation mechanism.
Item Type:	Book Section
Copyright:	© 2007 ACM
Faculty:	Engineering Technology (CTW)
Research Group:	Mechanical Automation and Mechatronics
Link to this item:	http://purl.utwente.nl/publications/61489
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