Design and Development of Cyber Physical System for Real-Time Web-based Visualization and Control of Robot Arm

Since Cyber-Physical System or CPS currently takes part in industrial, there is a lot of research for developing this system. From the survey and the trend of CPS research, a human user interface for control and monitor was highlighted as Digital Twins where VR and AR are introduced to improve the visualization for easier system interpretation. This paper introduces the proposed design of real-time control web-based monitor and control of 4-DoF robotic arm system where the robotic arm represents a physical part and web-based visualization as a cyber-part. The 4-DoF robotic arm was utilized from MeArm robot and was controlled via ESP32 WROOM with Wi-Fi module in order to pursue wireless data transmission. WebSocket protocol will be exploited to connect between the physical and cyber-part where the virtual model was displayed and controlled via web-browser, the virtual model of the robot was created with 3D blender and operated with WebGL-based 3D application which can be integrated and run on web-browser without extension. The proposed design was evaluated with operational time and error between the controlled virtual model and actual physical angle, the result achieved 278.772 ms for average operational time and 0.32% in error of angle between virtual and actual. As a result, the proposed design provided two-way communication, real-time control, and monitor which can be applied in industrial applications.