Ethernet-based communication framework for sensor integration on industrial robots

Authors:
M. W. de Graaf;R. G. K. M. Aarts;J. Meijer;J. B. Jonker
Affiliations:
University of Twente, AE Enschede - The Netherlands;University of Twente, AE Enschede - The Netherlands;University of Twente, AE Enschede - The Netherlands;University of Twente, AE Enschede - The Netherlands
Venue:
Proceedings of the 1st international conference on Robot communication and coordination
Year:
2007

Citing 4
Cited 0

Introduction to Robotics: Mechanics and Control

Introduction to Robotics: Mechanics and Control
Modeling, Identification and Control of Robots

Modeling, Identification and Control of Robots
Robot Manipulators: Mathematics, Programming, and Control

Robot Manipulators: Mathematics, Programming, and Control
Robotic laser welding: seam sensor and laser focal frame registration

Robotica

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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.