Remote Experiments With Mobile-Robot Hardware via Internet at Limited Link Capacity

Author

Zeiger, Florian ; Schmidt, Marco ; Schilling, Klaus

Author_Institution

Dept. of Comput. Sci. VII: Robot. & Telematics, Julius-Maximilians-Univ. Wurzburg, Wurzburg, Germany

Volume

56

Issue

12

fYear

2009

Firstpage

4798

Lastpage

4805

Abstract

Mobile robots provide a motivating basis for hardware experiments in kinematics, dynamics, and control topics. A suitable infrastructure is to be established in order to offer a worldwide user community of students´ access to the mobile robots via Internet. Functionalities in the area safety, user-management, hardware interfaces, and constraints related to the available link quality must be taken into account. In this paper, in particular, aspects related to efficient teleoperation of mobile robots despite communication-link constraints are analyzed. Details of the technical implementation of the system architecture are described as well as characteristic performance measurements.

Keywords

Internet; computer aided instruction; control engineering education; distance learning; mobile robots; robot dynamics; robot kinematics; student experiments; telerobotics; distance learning; hardware interface; limited link capacity; mobile robot despite communication-link constraint; mobile-robot hardware experiment; remote experiment; robot dynamics; robot kinematics; student access Internet; system architecture; tele-education; teleoperation; user-management; worldwide user community; Communication constraints; distance learning; hardware experiments; mobile robots; remote laboratory; tele-education; tele-experiments;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2009.2027898

Filename

5175280