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Web Operated Robot Arm

University of Bridgeport Department of Computer Science and Engineering Robotics, Intelligent Sensing and Control RISC Laboratory. Web Operated Robot Arm. Matanya Elchanani and Tarek Sobh. The Basic Idea. Robots are controlled locally

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Web Operated Robot Arm

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  1. University of Bridgeport Department of Computer Science and Engineering Robotics, Intelligent Sensing and Control RISC Laboratory Web Operated Robot Arm Matanya Elchanani and Tarek Sobh

  2. The 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

  3. System 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

  4. Flow 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

  5. Flow 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

  6. Future goals • Queuing access control system • User timeout controller • Distance learning screens • Stereoscopic positioning control • Velocity control • Sensor controlled gripper

  7. THE END Created by: Matanya Elchanani

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