A Novel Automated Framework for Networked Control of High-DOF Robot Manipulators: A Case Study of IRB140

This paper proposes an efficient networked control methodology for high degree-offreedom (DOF) robot manipulators, offering detailed yet simplified procedures suitable for arm-like industrial robots.The methodology aims to precisely capture the behavior of contemporary industrial robotic manipulators across varied and challenging environments, despite their high DOF and complex characteristics.The automated framework, rooted in the Newton-Euler formulation, is assessed using the ABB IRB140 robot manipulator.Notably, the paper introduces a three phases-based novel approach to robot networked control.The integration of the network into the closed-loop control system of the manipulator is presented in three sequential stages, outlining the key factors in choosing the appropriate network protocol and reducing the negative impacts of the network on the feedback control system.The analysis identifies PROFINET as an effective network choice for networked control systems (NCS) applications, especially advantageous for highly dynamic manipulators with complex models.Furthermore, an adaptive robust proportional derivative control law incorporating gravity compensation is introduced, accompanied by a mathematical proof demonstrating the global asymptotic stability for position control.An extensive simulation process conducted using TrueTime toolbox integrated into Matlab validates the asymptotic stability, proving promising performances in high-DOF robot manipulators networked control.