Development of a Client-Server Communication Method for Matlab/ Simulink Based Remote Robotics Experiments

Author

Turan, Ali ; Bogosyan, Seta ; Gokasan, Metin

Author_Institution

Dept. of Electr. & Comput. Eng., Alaska Fairbanks Univ., AK

Volume

4

fYear

2006

fDate

9-13 July 2006

Firstpage

3201

Lastpage

3206

Abstract

This paper describes the development of a client-server communication method using the TCP/IP protocol to run Matlab/Simulink compatible motion control units operating on the remote server side. The developed method is currently in use to allow access to a hardware-in-the-loop (HIL) robot simulator developed for both on-site and remote use at the Control Laboratory in the University of Alaska Fairbanks (UAF). The client-server communication is developed in C/C++ using wxWidgets to communicate with the Matlab/Simulink downloadable DS1104, which is used to develop a variety of robot dynamics configurations and control algorithms on the robotic simulator. Practical case study results from a remotely conducted graduate robotics project are also presented in relation to a HIL simulator developed for the real-time simulation of PUMA-type robots. The UAF remote laboratory Web site can be accessed at: http://www.uaf.edu/ece/remote-robotics

Keywords

C++ language; client-server systems; control engineering computing; mobile robots; motion control; robot dynamics; telerobotics; transport protocols; C; C++; Control Laboratory; DS1104; HIL robot simulator; Matlab; PUMA-type robots; Simulink; TCP-IP protocol; UAF; University of Alaska Fairbanks; client-server communication method; hardware-in-the-loop robot simulator; motion control units; remote robotics; remote server; remotely conducted graduate robotics project; robot dynamics; wxWidgets; Access protocols; Communication system control; Communication system software; Heuristic algorithms; Internet; Licenses; Motion control; Remote laboratories; Robot control; TCPIP; Matlab/ Simulink; Remote robotic laboratories; client-server communication; hardware-in-the-loop simulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2006 IEEE International Symposium on

Conference_Location

Montreal, Que.

Print_ISBN

1-4244-0496-7

Electronic_ISBN

1-4244-0497-5

Type

conf

DOI

10.1109/ISIE.2006.296129

Filename

4078905