Ethernet-based communication framework for sensor integration on industrial robots

This paper presents a communication framework for integrating sensors in a robotic laser welding system. The framework was originally developed for the application of sensorguided robotic laser welding, but the principles are generic, making it useful in other application areas as well. To use the sensor measurements during the robot motion, a synchronisation mechanism is presented for an image-based seam-tracking sensor that is integrated with an industrial 6-axis robot. The communication layer uses Ethernet TCP/IP communication and the synchronisation mechanism uses Ethernet UDP communication. Experimental validation is performed on industrial equipment to determine the accuracy of the proposed synchronisation mechanism.