Desarrollo de una arquitectura software para teleoperación y monitoreo del robot ANNO RV624

Abstract

In this degree work, the process for the development of a software architecture for teleoperation and monitoring of the ANNO RV624 robot is described. After reviewing the original software of the robotic arm, it was determined that it has problems when communicating with the arm and therefore it is necessary an interface that is able to interact with all types of operating systems, in addition to software that allows us to make a graphical interface that is able to communicate with external media and the need for a bench that acts as a support for the arm, becoming requirements for the development of the software architecture for teleoperation and monitoring. A CAD tool known as Solid Works was used for the modeling of the bench, which was approved by means of static analysis. As hardware elements of the system, the same as those available in the arm were used. For the implementation of the interface and loading of the algorithms, Visual Basic was used, which is also responsible for issuing the signals or instructions to the controller and the link between the IoT Ubidots platform and the controller, which is responsible for processing the information received and transmitting it to the drivers of the electric actuators. By integrating the DLLs, it was possible to monitor and teleoperate the arm from any device with an internet connection and to manipulate it from hundreds of kilometers away. In addition, there was no need for hardware elements other than those available in the controller. Once the interface prototype was implemented, 100% of the data sent in relation to the movement of each of the actuators was 100% functional, while the teleoperation and monitoring obtained a time of 8.37 and 2.62 seconds, respectively, to receive the data from the actuator.