CAJ | 학술논문

介绍了KeMotion机器人控制器的特点，提出了基于KeMotion机器人控制器Robot Control二次开发的方法。在TeachControl环境中实现了6轴多关节型机器人对于焊接设备的控制，并且在User-end上进行了机器人焊接应用程序的开发，实现了机器人焊接功能。
개소료KeMotion궤기인공제기적특점，제출료기우KeMotion궤기인공제기Robot Control이차개발적방법。재TeachControl배경중실현료6축다관절형궤기인대우한접설비적공제，병차재User-end상진행료궤기인한접응용정서적개발，실현료궤기인한접공능。
On the basis of the characteristics of KeMotion robot controller described in this paper, the customized development of robot controller is introduced to realize welding function of 6-axis articulated robot in RC （robot-control）. In TeachControl environment, the 8-axis multi-joint robot for welding equipment control is achieved, and robotic welding procedure is developed, achieving its weldingfunction on the User-end.