Create a program to control the robot arm to work

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Reference no: EM133550539

A remote controller is used to control a robot's arms through a serial communication line.

The remote controller can control each arm individually by selecting the robot address.

The robot arm performs welding for a rectangular piece of metal with dimension 100 cm width X 50 cm Height.

The robot arm starts by moving to top the left corner and weld this corner then move to the top right corner and weld the top right corner and repeat for the bottom right and bottom left corners. After that, the robot arm waits 5 seconds for the new metal piece and repeat the operation. The robot arm speed about 200 cm/s

It is required to add another robot arm, the available controller is programmed to control only one robot arm. To develop a controller for multiple robot arms you need to perform a reverse-engineering process to the communication protocol used to control the robot arm.

The robot controller is emulated using provided embedded firmware and ESP32 Board. All serial communication can be monitored using the ESP32 USB port. Also, a signal waveform captured by an oscilloscope is provided for the data transmission.

Use the reverse engineering techniques to analyze the data transmitted by the ESP32 and find the following

1- Bitrate, and serial port mode utilized by the controller to transmit the control commands
2- The control command format
3- If the controller sends the control command as a frame, you need to find
The frame start,

- length of the frame
- type of data encoding
- Is there any error check code utilized and how to calculate it?
- The robot address filed and utilized control commands
- Can we change the control command to change the metal piece dimension to 50X50 cm and how?
- create a program to control the robot arm to work with the new metal piece dimension. Your report must include screen captures for data captured by the serial monitor, your analysis and

Reference no: EM133550539

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