An internet-based system for remote planning and execution of SCARA robot trajectories

Author

Draganjac, Ivica ; Sesar, Vedran ; Bogdan, Stjepan ; Kovacic, Zdenko

Author_Institution

Fac. of Electr. Eng. & Comput., Univ. of Zagreb, Zagreb

fYear

2008

fDate

10-13 Nov. 2008

Firstpage

3485

Lastpage

3490

Abstract

In this paper we describe an Internet accessible robot control laboratory, providing remote trajectory planning and execution for a SCARA robot. The laboratory provides students with hands-on experimental experience with a robotic manipulator. The system is based on client-server TCP/IP architecture. The server-side system, running on an ultimodule embedded platform, controls the 4DOF SCARA robot motion. A PC-based client application enables users to plan trajectories and download them to the motion controller. Trajectory execution can be observed in parallel on a virtual robot model and a camera video stream capturing robot motion.

Keywords

Internet; client-server systems; control engineering computing; control engineering education; embedded systems; manipulators; motion control; student experiments; telerobotics; transport protocols; Internet accessible robot control laboratory; SCARA robot motion control; camera video stream; client-server TCP/IP architecture; remote trajectory execution; remote trajectory planning; robotic manipulator; student experiment; ultimodule embedded platform; Control systems; Internet; Laboratories; Manipulators; Motion control; Motion planning; Robot control; Robot motion; TCPIP; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2008. IECON 2008. 34th Annual Conference of IEEE

Conference_Location

Orlando, FL

ISSN

1553-572X

Print_ISBN

978-1-4244-1767-4

Electronic_ISBN

1553-572X

Type

conf

DOI

10.1109/IECON.2008.4758522

Filename

4758522