N the facts exchange. A of EGM communiI/O systems, intermediating inside the info exchange. A diagram diagram of EGM communication with all the Simulink system as an externalis shown in Figure 2. cation with all the Simulink plan as an external device device is shown in Figure 2.Figure two. Communication diagram. Figure 2. Communication diagram.The exchanged data is encoded according to the Protobuf protocol. This forces the use of a serialization process for information sent for the EGM and deserialization on the received information in order that it can be processed in Simulink. This protocol allows data to be transferred inside a shorter time than typical protocols primarily based, for instance, on encoding information in ASCII. Unfortunately, Simulink doesn’t have ready-made tools to conduct communication in accordance with the Protobuf protocol. Therefore, a custom S-function block was written to procedure the information and communicate together with the EGM. The EGM system is definitely an intermediate arrangement amongst the external controller and also the program producing control signals for person manipulator drives. Through the EGM, it is actually probable to manage the motion of your manipulator in joint space or in a task space defined in relation towards the MAC-VC-PABC-ST7612AA1 custom synthesis selected coordinate technique. The EGM receives the set position and velocity data with the manipulator, then determines the set axis velocity in the formula: speed = k pose – pose_re f ) speed_re f (1)Sensors 2021, 21,the method creating control signals for individual manipulator drives. By means of the EGM, it really is attainable to control the motion of the manipulator in joint space or inside a activity space defined in relation to the chosen coordinate program. The EGM receives the set position and velocity information with the manipulator, then determines the set axis velocity from the 5 of 17 formula: = ( – _) _ (1)where –proportional obtain element, ML-SA1 In stock –reference position, pose–set position, speed_re f — exactly where k–proportional gain aspect, pose_re f_–reference position, –set position, _–reference velocity. The set velocity is transmitted to transmitted for the moreference velocity. The set velocity reference value reference value isthe motion manage of tion manage on the mechanical unit, which controls the individual drives. the mechanical unit, which controls the person drives.2.two. Force Handle 2.2. Force Handle The Integrated Force Control add-on just isn’t only a controller computer software extension packis not merely a controller software program extension The Integrated Force Manage package allowing the programming paths in accordance with the selected approach. The addage enabling the programming of of paths in accordance using the selected method. The add-on includes6-axis force/torque sensor in conjunction with a power technique. TheThe sensor can on consists of a a 6-axis force/torque sensor in addition to a power program. sensor can measmeasure the force and torque acting it as components defined in ain a Cartesian framereferure the force and torque acting on on it as elements defined Cartesian frame of of reference xS yS . The sensor can bebe mounted around the manipulator’s arm amongst the flange ence zS . The sensor can mounted around the manipulator’s arm amongst the flange and and the tool, as shown in Figure 3. the tool, as shown in Figure three.Figure three. Diagram with the setting of a reference technique in relation towards the manipulator flange, Figure 3. Diagram of your setting of a reference technique in relation towards the manipulator flange, x R y R z R — –reference program related to the.