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학술대회 Remote Two-wheel Robot control using OPC-UA
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저자
이승준, 김우진, 이양구, 윤대섭, 이준욱
발행일
202010
출처
International Conference on Information and Communication Technology Convergence (ICTC) 2020, pp.1842-1844
DOI
https://dx.doi.org/10.1109/ICTC49870.2020.9289077
협약과제
19PR2300, 제조 및 물류처리 최적화를 위한 IIoT 및 분산제어 플랫폼 기술 개발, 윤대섭
초록
In this work, we have implemented the two networked robots that can be reproduced in real time. The two robots formed a network by applying OPC-UA and send location and heading angle information periodically between each robot for lightweight communication environment and object modeling Robot 1 is controlled by the user, and Robot 2 calculates a smoothed traveling path to move from its current position to an updated position and heading angle sent from Robot 1. The results show that the automatically-moving robot's trajectory are close to the manually controlled robot's trajectory, and the average communication delay is 20 msec or less.
키워드
material handling, OPC-UA, two-wheel robot
KSP 제안 키워드
Communication Environment, Heading angle, Material handling, Moving robot, Networked Robots, OPC UA, Real-Time, Robot Control, communication delay, object modeling, two-wheel robot