Teleoperation and Remote Monitoring of a ScorBot ER-4U Robotic Arm in an Academic Environment
Franklin Salazar L1, Jorge Buele2, Homero J. Velasteguí3, Angel Soria4, Edith Elena Tubón Núñez5, Clara Sánchez Benítez6, Gabriela Orejuela T7
1Franklin Salazar L., Facultad Ingeniería Sistemas, Electrónica Industrial, Universidad Técnica Ambato, Ambato, Ecuador.
2Jorge Buele, Facultad Ingeniería Sistemas, Electrónica Industrial, Universidad Técnica Ambato, Ambato, Ecuador.
3Homero J. Velasteguí, Facultad Ingeniería Sistemas, Electrónica Industrial, Universidad Técnica Ambato, Ambato, Ecuador.
4Angel Soria, Electrical and Computer Engineering, Purdue University, West Lafayette, United States of America.
5Edith Elena Tubón Núñez, Facultad Ingeniería Sistemas, Electrónica Industrial, Universidad Técnica Ambato, Ambato, Ecuador.
6Clara Sánchez Benítez, Facultad Ingeniería Sistemas, Electrónica Industrial, Universidad Técnica Ambato, Ambato, Ecuador.
7Gabriela Orejuela T., Facultad Ingeniería Sistemas, Electrónica Industrial, Universidad Técnica Ambato, Ambato, Ecuador.
Manuscript received on 03 April 2019 | Revised Manuscript received on 10 April 2019 | Manuscript Published on 13 April 2019 | PP: 40-45 | Volume-8 Issue-6C April 2019 | Retrieval Number: F12170486C19/19©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open-access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: The present research work develops a system that uses a programming method implemented for tele-operation of a ScorBot ER-4U. Its objective is remote control by a human operator, adding the possibility of creating routines from the remote site. This indicates a transformation in processes of production or control within industry and academic environments. To achieve the telecommunication purpose, two interfaces named client/server were developed in the LabVIEW software, which will process information through a TCP/IP communication protocol. Through the client interface, the operator gives specific orders for the robot to execute them. While the server interface allows the visualization of the instructions that arrive from the client and determines if there are changes in the requested positions to be executed in the robot. It transmits a frame with the information to the Scor Bot through Serial communication. In Scor Base, a routine that reads the serial port data detecting errors and executing the movement requested by the TCP client is executed permanently. The drawback of the project is the delays in the execution of the movements, produced by characteristics of the environment of handling and programming of the robot. Although they are not lapses greater than a second, generate a vision of discontinuity in movements determined.
Keywords: Process Control, Robotic arm, TCPIP, Teleoperation.
Scope of the Article: Communication