On of reading test signals via an added UDP socket was added to the S-function.

On of reading test signals via an added UDP socket was added to the S-function. Alternatively, a semi-static process was designed in the controller, which performs independently on the EGM. A system was written that takes values from chosen test signals and sends them by means of UDP towards the indicated IP address. The program ought to define which signals are to be sent towards the external device and in what order. Sooner or later, the S-function block took the type shown in Figure four. Based on the EGM settings, the input on the block can be:TCP position in relation for the chosen reference frame as a GNE-371 DNA/RNA Synthesis vector [ x TCP , y TCP , z TCP ] T , expressed in (mm); TCP orientation in Euler angles as a vector [rx TCP , ry TCP , rz TCP ] T , expressed in ; TCP orientation in quaternions as a vector [q1 , q2 , q3 , q4 ] T ; position on the manipulator connectors as a vector [ J1 , J2 , J3 , J4 , J5 , J6 ] T , expressed in ; velocity of your manipulator’s joints as a vector J 1 , J two , J 3 , J four , J 5 , J 6 , expressed in ( /s); . . . T TCP velocity in xyz space as a vector x TCP , y TCP , z TCP , expressed in (mm/s). Nevertheless, in the output in the block, we get: TCP position in relation for the selected reference frame as a vector [ x TCP , y TCP , z TCP ] T , expressed in (mm); TCP orientation in Euler angles as a vector [rx TCP , ry TCP , rz TCP ] T , expressed in ;. . . . . . TSensors 2021, 21,test signals, transmitted as a 12-element vector.expressed in (mm); TCP orientation in Euler angles as a vector , , TCP orientation in quaternions as a vector , , , ; 7 of 17 position from the manipulator connectors as a vector , , (; TCP orientation FM4-64 manufacturer ofquaternions asand moments4 ] T ;on the Force Contro values in forces a vector [q1 , q2 , q3 , q position with the manipulator connectors as a vector [ J1 , J2 , J3 , J4 , J5 , J6 ] T , expressed in , expressed in (N) and (Nm); ; , , , , , T values of forces and moments oftime, transmitted vector Fx , Fy , Fz , Tx , Ty , Tz , robot controller the Force Manage system, as a as a vector , , expressed in (N) and (Nm); quantity of the sample vector [hour, min, sec, ms T ; robot controller time, transmitted as areceived in the ]controller; number of the sampletransmitted as a 12-element vector. test signals, received in the controller;Figure 4. S-function block. Figure 4. S-functionblock.The initial tests were carried out using the WireShark program (WireShark team, GNU GPL), which monitorstests have been carried out working with the WireShark system The very first information passing by means of an Ethernet network, and it was located that on average, the controller sends data from test signals just about every 4 ms. This frequency permits the GPL), which monitors in parallel with all the EGM. data in the test signals to become useddata passing via an Ethernet networ onThe codes of your S-function programsendsprogramfromrobot controller that was four m average, the controller as well as the information on the test signals just about every utilised for testing were posted around the GitHub platform [26]. four. Experimentthe data in the test signals to be applied in parallel together with the EGM The codes in the S-function system and the system on To be able to verify the operation with the S-function, a position orce control program was was employed for testing had been posted around the goal of platform [26]. built in Simulink primarily based on the algorithm described in [27]. TheGitHub the algorithm isto implement the trajectory of motion inside a direction tangent for the path as well as the trajectory on the force in the path nor.