| Title |
Development of Metafile for Interlocking of Virtual Environment and Real Robot Workspace in HILS |
| Authors |
박홍성(Hong Seong Park) ; 김미숙(Mi-sook Kim) |
| DOI |
https://doi.org/10.5573/ieie.2019.56.12.117 |
| Keywords |
Robot workspace ; Metafile ; HILS ; HW module ; Virtual model ; |
| Abstract |
In robot workspace where robots and human workers perform collaborative tasks simultaneously during production operation, the safety of the worker has effects on the task of the robot. So it is necessary to verify the robot program within the virtual workspace including robots, workers, and parts. Also HILS(Hardware in the Loop Simulation) model that can be interlocking between virtual robot and real HW modules is needed. This paper proposes the metafile for HILS model that is able to make the model easy and its interlocking method between the virtual environment and the HW modules(or the robots). This paper presents the schema of the metafile to describe the workspace where the virtual environment and the real environment coexist and verifies the proposed method using examples. |