Abstract This paper presents the development of a convolutional code application for error detection and correction in a communication system. This application is based on an industrial protocol and aims at reconstructing data damaged during transmission. The Controller Area Network (CAN) protocol is used, which is widely used in the automobile industry, as well as in the automation of industrial processes. The application allows us to make a system that presents errors due to hostile conditions in the fault-tolerant industrial environment. These errors appear as corrupted data affecting the robot’s control system. The robot is a 3 Degrees of Freedom (3-DoF) manipulator robot with redundancy in the plane; data transmission takes place between the controller and such a robot. The communication system is assessed in terms of performance when facing transmission faults, comparing the response of the system with and without error correction.

中文翻译：

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基于卷积码的机械臂控制容错通信系统

摘要 本文介绍了在通信系统中用于错误检测和纠正的卷积码应用程序的开发。该应用程序基于工业协议，旨在重建传输过程中损坏的数据。使用控制器局域网 (CAN) 协议，该协议广泛应用于汽车行业以及工业过程的自动化。该应用程序允许我们制作一个系统，该系统由于容错工业环境中的恶劣条件而出现错误。这些错误表现为影响机器人控制系统的损坏数据。机器人为具有平面冗余的3自由度（3-DoF）机械手机器人；数据传输发生在控制器和这样的机器人之间。