Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper
Recently, the Modbus RTU protocol has been widely accepted in the application of robotics, communications and industrial control systems due to its simplicity and reliability. With the help of the MATLAB Instrument Control Toolbox, a serial communication between Simulink and a 3 Finger Adaptive Robo...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2017
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| Online Access: | http://eprints.uthm.edu.my/4384/ http://eprints.uthm.edu.my/4384/1/AJ%202017%20%28151%29%20Modbus%20RTU%20protocol%20and%20arduino.pdf |
| _version_ | 1848888273140711424 |
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| author | Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi |
| author_facet | Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi |
| author_sort | Sadun, Amirul Syafiq |
| building | UTHM Institutional Repository |
| collection | Online Access |
| description | Recently, the Modbus RTU protocol has been widely accepted in the application of robotics, communications and industrial control systems due to its simplicity and reliability. With the help of the MATLAB Instrument Control Toolbox, a serial communication between Simulink and a 3 Finger Adaptive Robot Gripper can be realized to demonstrate a grasping functionality. The toolbox includes a “to instrument” and “query instrument” programming blocks that enable the users to create a serial communication with the targeted hardware/robot. Similarly, the Simulink Arduino IO package also offers a real-time feature that enabled it to act as a DAQ device. This paper establishes a real-time robot control by using Modbus RTU and Arduino IO Package for a 3 Finger Adaptive Robot Gripper. The robot communication and grasping performance were successfully implemented and demonstrated. In particular, three (3) different grasping mode via normal, wide and pinch were tested. Moreover, the robot gripper’s feedback data, such as encoder position, motor current and the grasping force were easily measured and acquired in real-time. This certainly essential for future grasping analysis of a 3 Finger Adaptive Robot Gripper. |
| first_indexed | 2025-11-15T20:07:39Z |
| format | Article |
| id | uthm-4384 |
| institution | Universiti Tun Hussein Onn Malaysia |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T20:07:39Z |
| publishDate | 2017 |
| publisher | EDP Sciences |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | uthm-43842021-12-02T04:22:27Z http://eprints.uthm.edu.my/4384/ Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Recently, the Modbus RTU protocol has been widely accepted in the application of robotics, communications and industrial control systems due to its simplicity and reliability. With the help of the MATLAB Instrument Control Toolbox, a serial communication between Simulink and a 3 Finger Adaptive Robot Gripper can be realized to demonstrate a grasping functionality. The toolbox includes a “to instrument” and “query instrument” programming blocks that enable the users to create a serial communication with the targeted hardware/robot. Similarly, the Simulink Arduino IO package also offers a real-time feature that enabled it to act as a DAQ device. This paper establishes a real-time robot control by using Modbus RTU and Arduino IO Package for a 3 Finger Adaptive Robot Gripper. The robot communication and grasping performance were successfully implemented and demonstrated. In particular, three (3) different grasping mode via normal, wide and pinch were tested. Moreover, the robot gripper’s feedback data, such as encoder position, motor current and the grasping force were easily measured and acquired in real-time. This certainly essential for future grasping analysis of a 3 Finger Adaptive Robot Gripper. EDP Sciences 2017 Article PeerReviewed text en http://eprints.uthm.edu.my/4384/1/AJ%202017%20%28151%29%20Modbus%20RTU%20protocol%20and%20arduino.pdf Sadun, Amirul Syafiq and Jalani, Jamaludin and Abdul Sukor, Jumadi (2017) Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper. MATEC Web of Conferences, 108 (05004). pp. 1-5. http://dx.doi.org/10.1051/matecconf/201710805004 |
| spellingShingle | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) Sadun, Amirul Syafiq Jalani, Jamaludin Abdul Sukor, Jumadi Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper |
| title | Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper |
| title_full | Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper |
| title_fullStr | Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper |
| title_full_unstemmed | Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper |
| title_short | Modbus RTU protocol and arduino IO package: a real time implementation of a 3 finger adaptive robot gripper |
| title_sort | modbus rtu protocol and arduino io package: a real time implementation of a 3 finger adaptive robot gripper |
| topic | TJ210.2-211.47 Mechanical devices and figures. Automata. Ingenious mechanisms. Robots (General) |
| url | http://eprints.uthm.edu.my/4384/ http://eprints.uthm.edu.my/4384/ http://eprints.uthm.edu.my/4384/1/AJ%202017%20%28151%29%20Modbus%20RTU%20protocol%20and%20arduino.pdf |