Ethernet-based communication framework for sensor integration on industrial robots

M.W. de Graaf; R.G.K.M. Aarts; J. Meijer; J.B. Jonker

1st International ICST Conference on Robot Communication and Coordination

Research Article

Ethernet-based communication framework for sensor integration on industrial robots

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Cite: BibTeX Plain Text

@INPROCEEDINGS{10.4108/ICST.ROBOCOMM2007.2089,
    author={M.W. de Graaf and R.G.K.M. Aarts and J. Meijer and J.B. Jonker},
    title={Ethernet-based communication framework for sensor integration on industrial robots},
    proceedings={1st International ICST Conference on Robot Communication and Coordination},
    proceedings_a={ROBOCOMM},
    year={2010},
    month={5},
    keywords={},
    doi={10.4108/ICST.ROBOCOMM2007.2089}
}

M.W. de Graaf
R.G.K.M. Aarts
J. Meijer
J.B. Jonker
Year: 2010
Ethernet-based communication framework for sensor integration on industrial robots
ROBOCOMM
ICST
DOI: 10.4108/ICST.ROBOCOMM2007.2089

M.W. de Graaf¹^,*, R.G.K.M. Aarts¹, J. Meijer¹, J.B. Jonker¹

1: University of Twente - Laboratory of Mechanical Automation P.O. Box 217 - 7500 AE Enschede - The Netherlands

*Contact email: m.w.degraaf@utwente.nl

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 sensorguided 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.

Published: 2010-05-16
Modified: 2010-05-16

: http://dx.doi.org/10.4108/ICST.ROBOCOMM2007.2089