Investigation on controlling mechatronic systems via the internet with use of network emulator

Abstract

This paper deals with controlling mechatronics system via the Internet and presents advantages of using the network emulator in such investigations. The emulator parameters associated with the Internet communication, such as: packet delay and packet loss are, in general described but the result of detailed investigations were presented only for packet delay. Laboratory stand with 2DoF manipulator (RR configuration) was elaborated in order to study the possibility of control over the Internet. Experiments were realized in system allowing for changing transmission delays among the mathematical model of 2DoF manipulator and the controller responsible for joints variables generation. The trajectory of manipulator controlled via Internet for different data transmission delays are presented.