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Remote monitoring and control of the 2-DoF robotic manipulators over the internet

Published online by Cambridge University Press:  10 August 2022

Sadra Hokmi ,
Shahab Haghi  and
Alireza Farhadi Open the ORCID record for Alireza Farhadi [Opens in a new window]
Sadra Hokmi
Affiliation:
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran
Shahab Haghi
Affiliation:
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran
Alireza Farhadi*
Affiliation:
Department of Electrical Engineering, Sharif University of Technology, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
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Abstract

This article is concerned with remote monitoring and control of the 2-degrees of freedom (DoF) robotic manipulators, which have nonlinear dynamics over the packet erasure channel, which is an abstract model for communication over the Internet, WiFi, or Zigbee modules. This type of communication is subject to imperfections, such as random packet dropout and rate distortion. These imperfections cause a significant challenge for monitoring and control of robotic manipulators in the industrial environments because sensitive data, such as sensor data and control commands may not ever reach to their destination resulting in significant performance degradation. Therefore, the effects of these imperfections must be compensated. In this article, we apply two coding and control techniques previously developed for the telepresence ad teleoperation of autonomous vehicles to compensate the effects of the above communication imperfections for remote monitoring and control of the 2-DoF robotic manipulators controlled over the packet erasure channel. To achieve this goal, we design a new linear controller and a new nonlinear controller for the 2-DoF robotic manipulators over the packet erasure channel. The first technique is based on the linearization method and the second technique uses a nonlinear controller. The performances of these two techniques for remote monitoring and control of robotic manipulators are evaluated and compared with each other in this paper. We illustrate their satisfactory performances in the presence of severe communication imperfections.

Keywords

telepresenceteleoperationrobotic manipulatorIndustrial Internet of Things (IIoT), the Industry 4.0
Type
Research Article
Information
Robotica , Volume 40 , Issue 12 , December 2022 , pp. 4475 - 4497
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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