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Development of Architectures for Internet Telerobotics Systems
Abstract
manipulator with five degrees of freedom, called Mentor, is employed. Client-server architecture is chosen as a platform for our Internet telerobotics system. Three generations of telerobotics systems have evolved in this research. The first generation was based on CGI and two tiered architecture, where a client presents a Graphical User Interface to the user, and utilizes the user's data entry and actions to perform requests to robot server running on a different machine. The second generation was developed using Java. We also employ Java 3D for creating and manipulating 3D geometry of manipulator links and for constructing the
structures used in rendering that geometry, resulting in 3D robot movement simulation presented to the users(clients) through their web browser. Recent development in our Internet telerobotics includes object recognition through image captured by a camera, which poses challenging
problem, given the undeterministic latency of the Internet. The third generation is centered around the use of CORBA for development platform of distributed internet telerobotics system, aimed at distributing task of telerobotics system.
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DOI: http://dx.doi.org/10.21535%2FProICIUS.2007.v3.598
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