4.8 Article

Impacts of Wireless on Robot Control: The Network Hardware-in-the-Loop Simulation Framework and Real-Life Comparisons

Journal

IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
Volume 19, Issue 9, Pages 9255-9265

Publisher

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TII.2022.3227639

Keywords

5G; hardware-in-the-loop; multirobot coordination; teleoperation; Wi-Fi 6; wireless control

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This article proposes a network hardware-in-the-loop (N-HiL) simulation framework to evaluate the impacts of wireless on robot control more efficiently and accurately. The framework employs correlation analysis between communication and control performances to improve the design. The N-HiL method provides reliable network conditions and eliminates the efforts and costs of building and testing the entire physical robot system in real life.
As many robot applications become more reliant on wireless communications, wireless network latency and reliability have a growing impact on robot control. This article proposes a network hardware-in-the-loop (N-HiL) simulation framework to evaluate the impacts of wireless on robot control more efficiently and accurately, and then improve the design by employing correlation analysis between communication and control performances. The N-HiL method provides communication and robot developers with more trustworthy network conditions, while the huge efforts and costs of building and testing the entire physical robot system in real life are eliminated. These benefits are showcased in two representative latency-sensitive applications: 1) safe multirobot coordination for mobile robots, and 2) human-motion-based teleoperation for manipulators. Moreover, we deliver a preliminary assessment of two new-generation wireless technologies, the Wi-Fi6 and 5G, for those applications, which has demonstrated the effectiveness of the N-HiL method as well as the attractiveness of the wireless technologies.

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