Off-Line Programming for Task Teaching in a Muti-Robot System

다중 로봇의 작업 교시를 위한 오프라인 프로그래밍

  • 김대광 (부산대학교 기계공학과) ;
  • 강성균 (부산대학교 기계설계공학과) ;
  • 손권 (부산대학교 기계설계공학과)
  • Published : 2000.10.01

Abstract

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

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