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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.
KSP 제안 키워드
Communication Environment, Heading angle, Moving robot, Networked Robots, OPC UA, Real-Time, Robot Control, communication delay, object modeling, two-wheel robot