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EtherCAT 기반의 수직 다관절 로봇 구성 및 ROS를 이용한 로봇 제어
정창희(ChangHee Jung),황영준(YoungJun Hwang),오국표(Guk-pyo Oh),박희재(Hee-Jae Park),이치범(Chibum Lee) 대한전자공학회 2018 대한전자공학회 학술대회 Vol.2018 No.11
This paper deals with design and realization of vertical joint robot to be used in the ultrasonic welding process. To perform the task, we present the target performance and construct the robot based on it. To object the kinematic model, designed parameters are applied to Denavit-Hartenberg convention. EtherCAT device protocols are used to control each joint actuator control. Motion planning and Trajectory control of the robot arm is accomplished using Moveit application of ROS. An appropriate Robot program is designed to control the actual robot and Moveit.