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Non-Destructive, Remote Control of Industrial Robotic Arm

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2019 Pacific Southwest Section Meeting


California State University, Los Angeles , California

Publication Date

April 4, 2019

Start Date

April 4, 2019

End Date

April 6, 2019

Conference Session

PSW Section Meeting Papers - Disregard start and end time - for online paper access only

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Pacific Southwest Section Meeting Paper Submissions

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Paper Authors


Aleksandr Sergeyev Michigan Technological University

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Aleksandr Sergeyev is currently a
Professor in the Electrical Engineering
Technology program in the
School of Technology at Michigan Technological
University. Dr. Aleksandr
Sergeyev earned his bachelor degree in
Electrical Engineering at Moscow University
of Electronics and Automation in
1995. He obtained the Master degree
in Physics from Michigan Technological
University in 2004 and the PhD degree in Electrical Engineering
from Michigan Technological University in 2007.
Dr. Aleksandr Sergeyev’s research interests include high
energy laser propagation through the turbulent atmosphere,
developing advanced control algorithms for wavefront sensing
and mitigating effects of the turbulent atmosphere, digital
inline holography, digital signal processing, and laser spectroscopy. Dr. Sergeyev is a member of ASEE, IEEE, SPIE and is actively involved in promoting engineering education.

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Prince Mehandiratta Michigan Technological University

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Mr. Mehandiratta is currently pursuing a graduate degree in Mechanical Engineering at Michigan Tech. His professional interests include Industry 4.0, Robotics, Automation and Vegan Food Industry. He can be reached at

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Scott A Kuhl Michigan Technological University

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Scott Kuhl is an Associate Professor of Computer Science and an Adjunct Associate Professor of Cognitive & Learning Sciences at Michigan Technological University. He received his Ph.D. in Computer Science from the University of Utah in 2009. He has been the faculty advisor for Husky Game Development Enterprise since Spring 2010. His research interests include immersive virtual environments, head-mounted displays, and spatial perception. A link to his web page can be found at

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Virtual robots are perplexing for a beginner level robotics programmer. This project is an application of a new concept with the available virtual robot technology to make a non-destructive remotely controlled robotic arm, to better teach students and researches about programming and control of a robotic arm. Since there is no commercially available remotely controlled robotic arm, and due to the expensive cost of robotic arms, students and researchers are often unable to test their programs on real robots. By applying the concept of a remote controlled robotic arm, the existing resources can be effectively shared with other universities to teach programming aspects of industrial robots. Using developed system, allowing the remote access to the physical robot, interested parties can test their programs with a real robotic arm instead of simply working in robotic simulation environment.

In order to achieve this goal, the system consisting of a hardware, non-destructively controlling the teach pendant (TP) of a physical robot, the video capturing and transmitting system, and the website to be used by the client to remotely access, control, and program an industrial robotic arm have been designed. In order to gain a remote access to the robot, the client requests a login token for the time and duration of the access to the robot. Upon receiving an approval from an administrator, the user is provided with a teach pendant control web link, which is time-limited for the granted time slot. The interface for the client consists of the virtual TP, a display of the real TP screen and two display screens showing the robot from different angles. When the client presses any input on the virtual TP, the data is transmitted via the internet to the arm server, which, using Modbus TCP/IP to communicate with a programmable logic controller (PLC), activates the hardware to non-destructively control the real TP. The vision system implements the digital camera, mounted above the real TP’s display to capture and feed real-time data. The video signals captured by the vision system from the real TP, as well as physical robot are transmitted to the vision system server, which sends the video stream to the client enabling the user to observe in real-time TP display activities and motion of the robotic arm. The developed non-destructive robotic control system enables remote access to the users wishing to learn robotic programming concepts. While robotic simulation software can be used to achieve this, the proposed solution provides an actual interactivity with the physical system, allowing the user to interact with the robotic arm and learn the programming skills utilizing the industrial robot widely used in industry.

Sergeyev, A., & Mehandiratta, P., & Kuhl, S. A. (2019, April), Non-Destructive, Remote Control of Industrial Robotic Arm Paper presented at 2019 Pacific Southwest Section Meeting, California State University, Los Angeles , California. 10.18260/1-2--31838

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