Desenvolvimento de uma Interface de Monitoração Remota para o Sistema Robótico ROBIX, Integrando o Protocolo MQTT e oROS

Abstract

The history of the industry has been undergoing many changes,improving production methodologies and setting new goals. Theindustry is currently facing a new challenge called Industry 4.0.This is the result of technological developments in areas such asthe Internet of Things (IoT), Information and Communication Technology(ICT) and Automation Systems. The goal is to define amore dynamic and efficient production line, improving productionin terms of resources and time. However, in the current scenario,there are some difficulties to overcome. One of these difficultiesis the existence of various communication protocols, being manyproprietary and closed, which hinders the interoperability betweenmachines. For this reason, there is a need to standardize communicationprotocols, facilitating the integration of all elements in theproduction line. Given this context, this paper presents the integrationof the MQTT protocol with the ROS tool to control a roboticarm viaWeb. The angles of the robot links movements are informedvia web interface. The interface communicates with the robotic armvia the MQTT protocol. The arm control software was developedusing the ROS tool as well as its simulation environment. The softwareis implemented on the Raspbarry PI 3 development board andthe robot servo motors are driven by the Arduino Mega kit processor.Data exchange between these elements is done through serialcommunication. Tests were designed to assess communication latencyto validate the feasibility of using the MQTT protocol for thisscenario. The tests proved that the latency average of the MQTTprotocol, considering the worst case scenario, was 300 milliseconds,which is within the range of the studies consulted in the literature.