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Web Operated Robot ArmWeb Operated Robot Arm
Matanya Elchanani and Tarek Sobh
University of BridgeportDepartment of Computer Science and Engineering
Robotics, Intelligent Sensing and ControlRISC Laboratory
The Basic IdeaThe Basic Idea
Robots are controlled locally The internet can be used as a link between
the robot and its control panel A simple web browser can be used to fully
control the robot
System RequirementsSystem Requirements
A robot arm Computer controlled robot controller PC running as the robot server An HTTP server running the robot client
program A WWW forms capable browser
Flow sequence - command pathFlow sequence - command path
Browser request received by HTTP server HTTP server initiates cgi-bin program Cgi-bin program sends a command over a
TCP/IP socket to the robot server Robot server receives command, interprets
it, applies inverse kinematics, and sends it to the robot controller via RS-232C link
Robot controller actually moves robot
Flow sequence - Feedback pathFlow sequence - Feedback path
Controller sends “end of movement” signal to the robot server
Robot server grabs a picture of the robot and sends it to cgi-bin program over TCP/IP socket
Cgi-bin program receives the picture, generates a HTML page and sends it to the WWW browser
Browser shows the current robot position
Future goalsFuture goals
Queuing access control system User timeout controller Distance learning screens Stereoscopic positioning control Velocity control Sensor controlled gripper
THE ENDTHE END
Created by: Matanya Elchanani