A network controlled planar parallel robot

This paper presents a remote controlled system for a 2-DOF parallel robot based on networks. The system consists of a server computer, a client computer and a DSP board. The DSP board, which is mounted on the robot, connects to a client computer via a serial port. The client receives encoder readings from the DSP board and transmits them to a server computer over the network. It also receives PID control signals from the server. The server computer controls the system, calculates the trajectory and runs PID controllers using these readings. The system is tested over Lakehead University´s local area network. The test results show that the network control system gives a satisfactory performance.