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.
|Conference||1st International Conference on Robot Communication and Coordination|
|Period||15/10/07 → 17/10/07|
|Other||October 15 - 17, 2007|