N-DoF Teleoperational System for 4-DoF Industrial SCARA Robot Control Using Modular CAN Bus-Based Architecture
Bibliographic record
Abstract
This research presents the development of a teleoperational system for controlling an industrial SCARA robot via a graphical user interface (GUI). The system allows users to control the robot either in joint space or tool space. The teleoperation system configuration includes a GUI application connected serially with a master controller, where the kinematics of the robot is computed through coordinate transformations. These coordinates are transmitted via a CAN bus protocol to slave controllers, each managing one of the four joints of the SCARA robot. Each joint’s position is precisely controlled using a PID algorithm, ensuring synchronous movement. The system is designed to be modular and embedded, facilitating easy replacement of any damaged modules. The system achieved a positioning error of $\pm 1.2 \mathrm{~mm}$ and an average response time of 12.5 ms, demonstrating its precision and real-time capability, and showcasing its effectiveness on an industrial SCARA robot.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.001 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".