Design of controller for mobile robot in welding process of shipbuilding engineering

• DOI: 10.7315/jcde.2014.024
• Publication Date: 2015-01-23T14:57:19Z
• Authors: Namkug Ku; Sol Ha; Myung-Il Roh
• Keywords: Robot welding

Abstract The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move perform tasks in double hull structure. consists main controller machine controller. Control four layers. Each layer modules. Suitable combinations modules enable required tasks. developed using C programming under QNX operating system. For modularizing architecture software, we designed with layers: Task Manager, Planner, Actions Task, Executer. embedded was applied successful execution evaluate this imbedded field tests are conducted, it confirmed that shipyard well implemented.