Abstract

© 2020 IEEE.Data transmission at the industry level encounters problems due to different factors such as noise and electromagnetic interference. This project presents an application for the control of a 3-DOF fault-tolerant robot through the implementation of an encoder and a Hamming decoder (7.4). Data transmission is conducted using a wireless system with XBee modules, while the Modbus RTU Master-Slave industrial communication protocol is employed for communication with the manipulator robot.To implement the master, a PC where the Hamming encoder responsible for placing the redundancy bits is installed, and an Xbee module for sending the information through the Modbus protocol are used. For the slave, a second Xbee module and a pcDuino board are used, where the Hamming decoder is located - which is responsible for receiving the encoder's information and perform the detection and correction of errors of the data sent by the master - to then be sent to the Expander Pi board, where the respective PWMs that manage the movement of the manipulator robot are located.