산업용 6관절 로봇의 원격제어를 위한 실시간 병렬데이터통신 인터페이스

Development of Realtime Parallel Data Communication Interface for Remote Control of 6-DOF Industrial Robot

This paper presents the development of the I/O Interface for the real time parallel data communication between controller of a six-axis industrial robot(CRS -A460) and an external computer. The proposed I/O Interface consists of the hardware I/O interface and the software that is downloaded to the robot controller and executed by the controller operating system. The constitution of the digital I/O Port for CRS-A460 robot controller and the digital I/O board for IBM-PC are presented as well as the Process Control Program of the robot controller. The developed protocol for the parallel data communication is described. The data communication is tested, and the performance is analysed. In particular, it is shown that the real-time constraint of the robot controller process is satisfied.