Development of Architectures for Internet Telerobotics Systems

TL;DR

This paper discusses the evolution of Internet telerobotics architectures, highlighting three generations from CGI-based to CORBA-based systems, and addresses challenges like latency and object recognition.

Contribution

It introduces a three-generation architecture for Internet telerobotics, demonstrating advancements from CGI to CORBA and integrating 3D simulation and object recognition.

Findings

Development of three telerobotics system generations

Implementation of 3D robot simulation in web browsers

Addressing latency and object recognition challenges

Abstract

This paper presents our experience in developing and implementing Internet telerobotics system. Internet telerobotics system refers to a robot system controlled and monitored remotely through the Internet. A robot manipulator with five degrees of freedom, called Mentor, is employed. Client-server architecture is chosen as a platform for our Internet telerobotics system. Three generations of telerobotics systems have evolved in this research. The first generation was based on CGI and two tiered architecture, where a client presents a Graphical User Interface to the user, and utilizes the user's data entry and actions to perform requests to robot server running on a different machine. The second generation was developed using Java. We also employ Java 3D for creating and manipulating 3D geometry of manipulator links and for constructing the structures used in rendering that geometry, resulting in 3D robot movement simulation presented to the users(clients) through their web browser. Recent development in our Internet telerobotics includes object recognition through image captured by a camera, which poses challenging problem, given the undeterministic latency of the Internet. The third generation is centered around the use of CORBA for development platform of distributed internet telerobotics system, aimed at distributing task of telerobotics system.