End-effector Pose Extrapolation using Wireless Channel State Information

Published

April 21, 2026

Author(s)

Karl Montgomery, Nathan Wei, Jing Geng, Mohamed Hany, Richard Candell

Abstract

Wireless communications for real-time control is an emerging field. There are many advantages gained by replacing a wired link with wireless; however, wireless brings unique challenges. Applications may need to be designed with wireless communications in mind, so they adapt in real-time to the state of the radio frequency (RF) channel. We present a real-time robotic use case that extrapolates end-effector poses by using wireless network quality indicators. We acquired the wireless channel state information (CSI) by polling the Received Signal Strength Indicator (RSSI) at a rate of 250 Hz. We demonstrate improvements to physical robot performance from the unique advantage of implementing a wireless co-design use case. The use case consists of two industrial robotic arms, the Leader and Follower robots, which coordinate to lift a metrology bar. The Follower senses when RSSI falls below a set threshold and extrapolates the next target pose. We conducted experiments with a dynamic, non-line-of-sight, multipath wireless channel by placing the station antennas and the access point inside a shielded and highly RF reflective reverberation chamber to emulate an industrial environment. We highlight the need for wireless control co-design to improve operational performance when presented with a challenging RF channel. Adopting wireless co-design may alleviate the strict communications reliability requirements often cited for industrial wireless networks and lead to greater adoption of the technology.

Conference Dates

April 21-24, 2026

Conference Location

Offenburg, DE

Conference Title

22nd International IEEE Conference on Factory Communication Systems (WFCS 2026)

Pub Type

Conferences

Download Paper

https://doi.org/10.1109/WFCS67029.2026.11511569

Local Download

Keywords

industrial Wireless, factory communications, wireless co-design, adaptive control, WLAN

Citation

Montgomery, K. , Wei, N. , Geng, J. , Hany, M. and Candell, R. (2026), End-effector Pose Extrapolation using Wireless Channel State Information, 22nd International IEEE Conference on Factory Communication Systems (WFCS 2026), Offenburg, DE, [online], https://doi.org/10.1109/WFCS67029.2026.11511569, https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=960590 (Accessed July 24, 2026)

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