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

摘要

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 communicationover the Internet,WiFi, or Zigbee modules. This type of communication is subject to imperfections, such as randompacket dropout and rate distortion. These imperfections cause a significant challenge for monitoring and control ofrobotic manipulators in the industrial environments because sensitive data, such as sensor data and control commandsmay not ever reach to their destination resulting in significant performance degradation. Therefore, the effectsof these imperfections must be compensated. In this article, we apply two coding and control techniques previouslydeveloped for the telepresence ad teleoperation of autonomous vehicles to compensate the effects of the above communicationimperfections for remote monitoring and control of the 2-DoF robotic manipulators controlled over thepacket erasure channel. To achieve this goal, we design a new linear controller and a new nonlinear controller for the2-DoF robotic manipulators over the packet erasure channel. The first technique is based on the linearizationmethodand the second technique uses a nonlinear controller. The performances of these two techniques for remote monitoringand control of robotic manipulators are evaluated and compared with each other in this paper. We illustratetheir satisfactory performances in the presence of severe communication imperfections.