굴삭기를 이용한 로봇 Teaching Playback 구현에 관한연구

Field robot represented by excavator can be applied for various working in manufacturing, construction, agriculture etc. Because of the flexibility of its multi-joint mechanism and the high power of hydraulic actuators. Since the excavator operates in the hazardous working circumstance, operators exposed in harmful environment. Therefore, automation system has been investigated to protect from the harmful environment. In this paper, the method to construct the Teaching Playback control system is proposed. The efficiency of Teaching Playback control system was evaluated through the field test.