Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator
Teleoperation System of the Internet-based Omnidirectional Mobile Robot with A Mounted Manipulator
复制标题
基于互联网的全向挂载移动机器人遥操作系统
DOI：
10.1109/icma.2007.4303823
复制
发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Guosheng Yang
中科院分区：
文献类型：
--
作者：
Dawei Wang;J. Yi;Dongbin Zhao;Guosheng Yang
构建了一个基于Internet的五自由度全方位移动的机器人遥操作系统平台。实现了通过互联网对机器人的远程控制。该系统具有成本低、用户界面友好的特点：远程用户只需在普通计算机上编写一个客户端程序，就可以通过Internet对机器人进行控制。客户端计算机可以接收由传感器测量的现场视频和环境信息。借助远程视频和本地仿真，用户可以轻松地与机器人进行通信。提出了系统的各个模块，并给出了系统的实现方法。通过相关实验验证了该系统的有效性。
A platform of the Internet-based teleoperation system with an omni-directional mobile robot which has a five DOFs robot arm is constructed. Remote control of the robot through the Internet is implemented. The system is featured as low-cost and user interface friendly: remote users can control the robot through the Internet just by a client program in a general computer. The client computer can receive the live video and environment information measured by sensors. With the help of the remote video and the local simulation, users can easily communicate with the robot. Different modules are proposed and the implementation method of the system is presented. Related experiments are conducted to test the validity of the proposed system.