This work addresses the design and implementation of a wireless connection for the remote control of the joints of a redundant 3-DoF¹ manipulator robot. To this end, low-cost devices able to establish master/slave connections are used as closed control loops to calculate both control in the master device and actuation in the slave devices. To test the performance of this wireless connection, classic robot controllers are designed, simulated, analyzed, implemented, and compared through a decentralized structure. The platform Raspberry Pi and UDP² protocol are used to obtain and process data sent to the robot control system, and to send control signals to the robot actuators. Additionally, the feasibility of synthetizing control systems for highly non-linear robots and, in turn, of commanding this system through a remote wireless communication system is demonstrated.

这项工作解决了无线连接的设计和实现，用于远程控制冗余 3-DoF ¹机械手的关节。为此，能够建立主/从连接的低成本设备被用作闭环来计算主设备中的控制和从设备中的驱动。为了测试这种无线连接的性能，通过分散结构设计、模拟、分析、实现和比较经典机器人控制器。平台 Raspberry Pi 和 UDP ²协议用于获取和处理发送到机器人控制系统的数据，并向机器人执行器发送控制信号。此外，还展示了为高度非线性机器人合成控制系统的可行性，进而通过远程无线通信系统指挥该系统。