Study to compare different transmission procedures in the context of a robotic telemanipulation system

Data transmission frequency and latency are crucial for haptic transparency in a robotic telemanipulation system. In this work, the different data transmission methods available for the ESP32 microcontroller are tested and compared to determine the most suitable data transmission method for a real-time telemanipulation system. This system consists of two mechanically decoupled collaborative robots with a tool detecting surface vibration. Two accelerometers connected to the ESP32 measure the vibration of both, the robots and the impact on the surface. The vibrations are then sent to a Robot-Operating-system (ROS) server. Two tests are performed: frequency measurement and latency measurement, with varying data buffer lengths. The results of the tests are then compared to determine a method to use that satisfies the system frequency and latency requirements. Most of the buffered methods satisfy the frequency requirement of the system, but only the wired transmission methods satisfy the latency requirement.