Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Real-time Synchronization Between Two Industrial Dual-arm Robots

두 개의 산업용 양팔로봇간의 실시간 동기화 방법

  • Choi, Taeyong (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Kyung, Jinho (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Do, Hyunmin (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Chanhun (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials) ;
  • Park, Dongil (Department of Robotics and Mechatronics, Korea Institute of Machinery and Materials)
  • 최태용 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 경진호 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 도현민 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 박찬훈 (한국기계연구원 로봇메카트로닉스연구실) ;
  • 박동일 (한국기계연구원 로봇메카트로닉스연구실)
  • Received : 2016.08.29
  • Accepted : 2016.11.02
  • Published : 2016.12.01
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Abstract

There is an increasing need for manufacturing systems to produce batches in small quantities. Such manufacturing systems are significantly difficult to develop with conventional automation equipment. Recently, several research groups have applied industrial dual-arm robots to cell production lines. A synchronization method for robots is necessary for the cell production process when robots work in a shared workspace. Conventional automation factories do not need this method because the main control system operates all of the machines or robots. However, our intended application for the developed robot is in small manufacturing environments that cannot install an expensive main control system. We propose an inexpensive and high-performance method with a simple digital in/out channel using a real-time communication protocol. The developed method was validated in a pilot production line for cellular phone packing.

Keywords

References

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