지능형 로봇 시스템을 위한 다중 로봇 제어 시스템의 설계 = Design of a Control System for Inteligent Multiple Robot System

다국어 초록 (Multilingual Abstract)

An intelligent robot control system is developed in such a way that it is capable of coordinating dual arm, handling multiple robotic devices and integrating external sensors such as vision and force sensors. Especially, a programming language and a control architecture are designed to allow multiple multi-axis devices to be moved synchronously. And also, task-level robot language are developed for object-oriented task-description and programming. For this, several manipulator-level robot languages are executed for the robot to perform sensor-based motions such as the tracking of moving target and on-line path modification by using F/T sensor. And a task-level robot language interpreter is desinged to translate a task level robot program into a set of manipulator level language. The control system is implemented by using 32-bit microprocessor board and a realtime multitasking operating system(VxWorks), and verified by a practical experament, in which the system control two industrial robot to successfully execute a coordinated-motion and concurrent motion.