DEVELOPMENT OF AN IoT (INTERNET OF THINGS)
BASED CONTROL SYSTEM FOR A 6DoF Collaborative Robot Arm
With the advent of Industry 4.0 there is a greater need of equipment to support
the “CONNECTED ENTERPRISE”.
• The goal of this project is to develop an autonomous robotic control
system that can be controlled and monitored from anywhere with a device having internet connectivity.
• The implications are huge, as this will lead to a more integrated production system where machine related data can be fetched right from the shop-floor in real-time by any management person for example given that he/she is having an internet-capable device.
• To develop a highly interoperable system. All the communications are handled by industry standard IEEE 802.11 Wireless LAN. The system’s connectivity is highly scalable and the overhead costs of having dedicated and fixed HMI to control shop-floor machinery are totally cut down as the HMI system can now be in user’s pocket anywhere.
• Initially after the design phase the major objective will be implementing closed-loop PID position control for the motors to achieve challenging demands in the industry requiring ultra-high precision.
• Robust Position Control: The position control system is to be integrated with the IoT (Internet of Things) gateway/controller which will essentially act as a server responding to requests from clients. The clients will be running Python application on a Linux environment to send data to the server system via a web-socket and in-turn control the PID system to command the robot directly over the internet.
• Public Availability: The whole server and gateway system is headless and fits in the palm. All the hardware used is open-sourced community based and the software/code written for this project will be made available to the public by GNU GPL Licensing. Both offline/online control, condition monitoring and intelligent error diagnostics has been integrated to the system.