Driving a 3 Dof Robotic Manipulator with Protected Data Through Industrial Communication Using Master-Slave Architecture

Urrea-Onate, E

doi:10.1109/CCAC.2019.8921340

Driving a 3 Dof Robotic Manipulator with Protected Data Through Industrial Communication Using Master-Slave Architecture

Journal

4th Ieee Colombian Conference on Automatic Control: Automatic Control as Key Support of Industrial Productivity, Ccac 2019 - Proceedings

Date Issued

2019

Author(s)

Urrea-Onate, E

DOI

https://doi.org/10.1109/CCAC.2019.8921340

Abstract

This paper deals with the design, implementation and assessment of an error tolerant industrial communications based on master/slave architecture applied to a 3 DOF manipulator robot. Algorithms for implementing communication between coding and decoding systems based on Hamming code (7.4) are developed. Communication tests are conducted using the Python minimal Modbus and Modbus-tk libraries. The implementation of the communication hardware between the coding, decoding and 3 DOF manipulator robot are presented, using pcDuino and expander Pi cards. © 2019 IEEE.