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.
|Title of host publication||RoboComm '07: proceedings of the 1st international conference on Robot communication and coordination|
|Publisher||Association for Computing Machinery (ACM)|
|Publication status||Published - 2007|
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).