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Journal of Computational Design and Engineering   Volume 1, Number 4, October 2014, pages 243-255
Design of controller for mobile robot in welding process of shipbuilding engineering
Namkug Ku, Sol Ha and Myung-Il Roh

Abstract     [Full Text]
    The present study describes the development of control hardware and software for a mobile welding robot. This robot is able to move and perform welding tasks in a double hull structure. The control hardware consists of a main controller and a welding machine controller. Control software consists of four layers. Each layer consists of modules. Suitable combinations of modules enable the control software to perform the required tasks. Control software is developed using C programming under QNX operating system. For the modularizing architecture of control software, we designed control software with four layers: Task Manager, Task Planner, Actions for Task, and Task Executer. The embedded controller and control software was applied to the mobile welding robot for successful execution of the required tasks. For evaluate this imbedded controller and control software, the field tests are conducted, it is confirmed that the developed imbedded controller of mobile welding robot for shipyard is well designed and implemented.
Key Words
    Mobile welding robot; Modularized control architecture; Embedded controller; Industrial automation
(1) Namkug Ku:
Department of Naval Architecture and Ocean Engineering, Dong-eui University, 176, Eomgwang-ro, Busanjin-gu, Busan 614-714, Republic of Korea;
(2) Sol Ha:
Engineering Research Institute, Seoul National University, 1, Gwanak-ro, Gwanak-gu, Seoul 151-744, Republic of Korea;
(3) Myung-Il Roh:
Department of Naval Architecture and Ocean Engineering & Research Institute of Marine Systems Engineering, Seoul National University, 1, Gwanak-ro, Gwanak-gu, Seoul 151-744, Republic of Korea.

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