Multirobot Internet-based architecture for telemanipulation: experimental validation

The design of online robots is a difficult task that must take into account multiple aspects like for example: (1) the system architecture, (2) the user interface, (3) communications, (4) time delay, (5) limited bandwidth, etc. Besides this, taking into account that the Web permits multiple people to easily access a single system, methods for managing the control of a unique robot must be designed (e.g. off-line virtual interfaces, connecting several robots to the system, etc.). In this paper we present the system architecture that have been used in our laboratory to let users program remotely two educational and two industrial robots through the same Web based system. Experimental results show different alternatives to organize the architecture and focus on the system performance aspects.