MATEC Web Conf.
Volume 108, 20172017 International Conference on Mechanical, Aeronautical and Automotive Engineering (ICMAA 2017)
|Number of page(s)||5|
|Section||Design and Development of Robot Systemg|
|Published online||31 May 2017|
Modbus RTU protocol and arduino IO package: A real time implementation of a 3 finger adaptive robot gripper
Faculty of Engineering Technology, Universiti Tun Hussein Onn Malaysia (UTHM), Batu Pahat, Johor, Malaysia
Recently, the Modbus RTU protocol has been widely accepted in the application of robotics, communications and industrial control systems due to its simplicity and reliability. With the help of the MATLAB Instrument Control Toolbox, a serial communication between Simulink and a 3 Finger Adaptive Robot Gripper can be realized to demonstrate a grasping functionality. The toolbox includes a “to instrument” and “query instrument” programming blocks that enable the users to create a serial communication with the targeted hardware/robot. Similarly, the Simulink Arduino IO package also offers a real-time feature that enabled it to act as a DAQ device. This paper establishes a real-time robot control by using Modbus RTU and Arduino IO Package for a 3 Finger Adaptive Robot Gripper. The robot communication and grasping performance were successfully implemented and demonstrated. In particular, three (3) different grasping mode via normal, wide and pinch were tested. Moreover, the robot gripper’s feedback data, such as encoder position, motor current and the grasping force were easily measured and acquired in real-time. This certainly essential for future grasping analysis of a 3 Finger Adaptive Robot Gripper.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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