Teleoperation of a Robot Arm System Using Pneumatic Artificial Rubber Muscles: Teleoperation over the Internet Using UDP and a Web Camera

Author

Kato, Tomonori ; Higashi, Tomoaki ; Shimizu, Kenichi

Author_Institution

Fac. of Eng., Fukuoka Inst. of Technol., Fukuoka, Japan

fYear

2010

fDate

4-6 Nov. 2010

Firstpage

714

Lastpage

718

Abstract

Teleoperation of pneumatic robots is desired in the fields of rescue, surgery, and rehabilitation therapy. In the present study, teleoperation control of a four-DOF robot arm system incorporating pneumatic artificial rubber muscles is proposed. In the experiment of the present study, the distance between the master and the slave systems is approximately 30km. Signals and images from the master controller side are sent over the Internet using user data gram protocol (UDP). The effectiveness of the proposed system is confirmed by the experimental results.

Keywords

dexterous manipulators; manipulator kinematics; muscle; pneumatic actuators; rubber; telerobotics; transport protocols; master slave system; pneumatic artificial rubber muscle; robot arm; teleoperation control; user datagram protocol; Cameras; Computers; Joints; Manipulators; Pneumatic systems; pneumatic artificial rubber muscle; robot arm; teleoperation; user datagram protocol;

fLanguage

English

Publisher

ieee

Conference_Titel

Broadband, Wireless Computing, Communication and Applications (BWCCA), 2010 International Conference on

Conference_Location

Fukuoka

Print_ISBN

978-1-4244-8448-5

Electronic_ISBN

978-0-7695-4236-2

Type

conf

DOI

10.1109/BWCCA.2010.160

Filename

5633880