Design of embedded Telerobotics system

To overcome the disadvantages observed in the prevalent telerobotics systems, such as bulky, high power consumption and closed architectures, this paper introduces a novel design of embedded Telerobotics system using the technique integrating embedded Linux and computer network technology, which make the system be more compact and lower power consumption. As an open architecture, the hardware consists of microcontroller, sensor, communication, motion control and power, while the software is developed as a hierarchical structure, including four layers of data acquisition, operating system, device driver and application. Based on this architecture, the robot control center is in charge of object recognition, multi-sensor information fusion, path planning and decision-making. As the result, the whole system has many advantages, such as compact hardware, low power consumption, customization and open architecture. The result of experiment demonstrates the feasibility and stability of the Telerobotics system in the end.