제어로봇시스템학회:학술대회논문집
- 2000.10a
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- Pages.412-412
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- 2000
Off-Line Programming for Task Teaching in a Muti-Robot System
다중 로봇의 작업 교시를 위한 오프라인 프로그래밍
- 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.