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Conference Paper
Remote Two-wheel Robot control using OPC-UA
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- Authors
- Seung-Jun Lee, Woojin Kim, Yang Koo Lee, DaeSub Yoon, Jun wook Lee
- Issue Date
- 2020-10
- Citation
- International Conference on Information and Communication Technology Convergence (ICTC) 2020, pp.1842-1844
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- 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 Keywords
- Communication Environment, Heading angle, Moving robot, OPC UA, Real-time, Robot Control, communication delay, networked robots, object modeling, two-wheel robot