Driving a 3 DOF Robotic Manipulator with Protected Data through Industrial Communication using Master-Slave Architecture

This paper deals with the design, implementation and assessment of an error tolerant industrial communications based on master/slave architecture applied to a 3 DOF manipulator robot. Algorithms for implementing communication between coding and decoding systems based on Hamming code (7.4) are developed. Communication tests are conducted using the Python minimal Modbus and Modbus-tk libraries. The implementation of the communication hardware between the coding, decoding and 3 DOF manipulator robot are presented, using pcDuino and expander Pi cards.