Teleoperation and remote monitoring of a ScorBot ER-4U robotic arm in an academic environment

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 ScorBot through Serial communication. In ScorBase, 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