Smartphone Based Control Architecture of Teaching Pendant for Industrial Manipulators

Industrial manipulators performs various tasks in an environment where operator has to monitor closely and also interact upon a detailed level with the robot. The operation of the robot from a remote area is possible through some wireless communication, but a two way communication for feedback is most desirable. The proposed smart phone based teaching pendant provides a user friendly interactive control input method to the robot's operator. The operator can not only give commands to the end effector, but during the continuous mode operation, the operator can pause, repeat and restart the subtasks of whole operation remotely. The two way network socket communication running on threads also gives a real time feedback data for detailed monitoring. OpenGL based smartphone visual drawing also gives a more understandable monitoring method of current robot status.