A low-cost internet-based telerobotic system for access to remote laboratories

Song You , Tianmiao Wang , Roy Eagleson , Cai Meng , Qixian Zhang
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引用次数: 50

Abstract

This paper presents an account of the design of a low-cost Internet-based teleoperation system implemented on China's Internet. Using a multimedia-rich human-computer interface, combining predictive displays and graphical overlays, a series of simple tasks were performed within a simulated space environment scenario. Internet clients anywhere can monitor the robotic workspace, talk with technicians, and control the Arm/Hand integrated system with 15 DOF located in lab to perform tasks (such as grasping a vessel, pouring a liquid, and peg-in-hole assembling, etc.). Our main contributions are to establish a foundation for teleoperated science and engineering research, and we have addressed some issues involving the time-delay associated with the Internet. We also developed several key software adaptation technologies and products used for Internet-Based teleoperation, compatible with the BH-III dexterous hand, BH1 6-DOF mechanical arm and five-finger 11-DOF data glove, constructed in our laboratory. This system has been successfully tested and applied in remote robotic education (Virtual Laboratories) system via China's Internet using our Master/Slave architecture, which combines mixed modes of remote monitor/manipulate and local autonomous control.

一种低成本的基于互联网的远程机器人系统,用于访问远程实验室
本文介绍了一种基于Internet的低成本远程操作系统的设计。使用多媒体丰富的人机界面,结合预测显示和图形叠加,在模拟的空间环境场景中执行一系列简单任务。任何地方的互联网客户都可以监控机器人的工作空间,与技术人员交谈,并控制位于实验室的具有15自由度的手臂/手集成系统来执行任务(例如抓容器,倒液体和钉入孔组装等)。我们的主要贡献是为远程操作科学和工程研究建立一个基础,我们已经解决了一些涉及与互联网相关的时延问题。我们还开发了一些关键的软件适配技术和产品,用于基于互联网的远程操作,与我们实验室构建的BH-III灵巧手、BH1 6-DOF机械臂和五指11-DOF数据手套兼容。该系统采用主/从架构,采用远程监控/操作与本地自主控制相结合的混合模式,已成功地在中国互联网上的远程机器人教育(虚拟实验室)系统中进行了测试和应用。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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