Abstract
The anticipated widespread use of the heavy-duty industrial manipulator (HDIM) makes it an important role in the field of modern industrial automation. Research on the attack of cyber-physical systems based on industrial manipulator vulnerabilities is booming, while there are few studies on the data logic and attack impact for HDIMs. This paper proposes a new cyber-physical attack mechanism named data logic attack mechanism on HDIMs, including network protocol data logic attack, system data integrity logic attack, and process logic attack. Meanwhile, data logic attack models for HDIMs and an attack impact analysis model are established. Besides, for the proposed data logic attack mechanism, a hardware-in-the-loop cosimulation based on Simulink and Adams is carried out to demonstrate the impact of data logic attacks on the system integrity, availability, accuracy, and integrity. A test platform has also been established to test the attack mechanism's effectiveness. The results of cosimulation and test show the attack impact ranking and effectiveness of the attack mechanism.
Highlights
The heavy-duty industrial manipulator (HDIM) is one type of industrial manipulators
As of March 2017, at least 83600 industrial manipulators had been attacked by the Internet through File Transfer Protocol (FTP) servers or unprotected routers[5]
2) The system data integrity logic attack includes modifying control algorithms logic and tampering with model configuration parameters to destroy system data logic in HDIMs, for example, tampering with some parameters will cause the industrial manipulators to go beyond the working range to form an attack
Summary
The heavy-duty industrial manipulator (HDIM) is one type of industrial manipulators. It is a multi-degree-of-freedom (DOF) manipulator for the industrial field, and can automatically perform operations and realize various functions by its power and control ability [1]. An attacker can affect the cyber-physical state of an industrial manipulator by destroying the data logic, such as tampering the protocol data logic, modifying control parameters logic, and disrupting the production process logic. 2) The system data integrity logic attack includes modifying control algorithms logic and tampering with model configuration parameters to destroy system data logic in HDIMs, for example, tampering with some parameters will cause the industrial manipulators to go beyond the working range to form an attack. We focus on the vulnerabilities of HDIMs and propose a data logic attack mechanism and an impact analysis model. The physical process vulnerability has been utilized to build cyber-physical attacks While these studies lack systematic theoretical analyses for data logic and the research results are basically in the stage of theory and simulation. 4: Calculate the joint transformation matrix from the terminal coordinate system {m} to the initial coordinate system {0}:
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