Development of Architectures for Internet Telerobotics Systems-中国期刊网

摘要 ThispaperpresentsourexperienceindevelopingandimplementingInternetteleroboticssystem.InternetteleroboticssystemreferstoarobotsystemcontrolledandmonitoredremotelythroughtheInternet.Arobotmanipulatorwithfivedegreesoffreedom,calledMentor,isemployed.Client-serverarchitectureischosenasaplatformforourInternetteleroboticssystem.Threegenerationsofteleroboticssystemshaveevolvedinthisresearch.ThefirstgenerationwasbasedonCGIandtwotieredarchitectures,whereaclientpresentsaGraphicalUserInterfacetotheuser,andutilizestheuser'sdataentryandactionstoperformrequeststorobotserverrunningonadifferentmachine.ThesecondgenerationwasdevelopedusingJava.WealsoemployJava3Dforcreatingandmanipulating3Dgeometryofmanipulatorlinks,andforconstructingthestructuresusedinrenderingthatgeometry,resultingin3Drobotmovementsimulationpresentedtotheusers(clients)throughtheirwebbrowser.RecentdevelopmentinourInternetteleroboticsincludesobjectrecognitionthroughimagecapturedbyacamera,whichposeschallengingproblem,givingtheundeterministiclatencyoftheInternet.ThethirdgenerationiscenteredaroundtheuseofCORBAfordevelopmentplatformofdistributedinternetteleroboticssystem,aimedatdistributingtaskofteleroboticssystem.

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Development of Architectures for Internet Telerobotics Systems

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Development of Architectures for Internet Telerobotics Systems

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