Ethernet-based communication framework for sensor integration on industrial robots

M.W. de Graaf, Ronald G.K.M. Aarts, J. Meijer, Jan B. Jonker

Research output: Chapter in Book/Report/Conference proceedingChapterAcademic

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.
Original languageUndefined
Title of host publicationRoboComm '07: proceedings of the 1st international conference on Robot communication and coordination
PublisherAssociation for Computing Machinery (ACM)
ISBN (Print)9789639799080
Publication statusPublished - 2007

Publication series

Name
PublisherACM

Keywords

  • IR-61489

Cite this

de Graaf, M. W., Aarts, R. G. K. M., Meijer, J., & 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 Association for Computing Machinery (ACM).