Development and Implementation of an Android-based Teach Pendant Emulator for Controlling the Virtual SCARAUC Robot
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- Abstract
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The present study addresses the development and implementation of an Android-based Teach Pendant emulator, aimed at providing a functional tool to control the virtual SCARAUC robot from the Robotics and Industrial Vision Laboratory at the University of Carabobo. As a theoretical foundation, exhaustive documentary research was conducted on the automaton and an analysis of its kinematic chain, which served as the core for determining both the system requirements and the mathematical control model, tackling the direct and inverse kinematic problems. Methodologically, the software architecture was rigorously structured using the C4 model and implemented on the Android operating system, selecting SDK 4.4 (KitKat) to ensure broad compatibility with mobile devices. Communication between the emulator and the automaton was established through the TCP/IP protocol within a Client-Server architecture, employing a LabView program as an intermediary to interact with RoboWorks’ RoboTalk libraries. Functional validation was performed by assigning basic tasks, confirming the emulator’s efficient and stable capability to control the robot’s joints as well as the internal management of position lists using SQLite. The outcome is a practical, economical, and accessible tool positioned as a modern alternative for educational robotics. Finally, future improvements are proposed, including external file management, optimal trajectory handling, and adaptation of the system to a physical SCARA robot.
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- 2026-08-06
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- Trabajos de Investigación
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Copyright (c) 2026 Antonio José Torres Sarmiento, Karina Chiquinquirá Aguiar Minniti
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
ISSN:2244-7857
Depósito Legal: ppi200902CA3925
