Teleoperation over IP Network: Virtual PUMA Robot

Philippe Fraisse (1) , Cédric Agniel (2) , David Andreu (3) , Jose Armando Segovia de Los Rios (4)

1 DEMAR - Artificial movement and gait restoration
2 LIRMM/NERO - NEtworked RObots
3 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
4 IT Toluca Mexico

We propose in this paper a stable remote position/force control scheme for manipulator robot via Internet based on Smith Predictor principle. In order to validate in real network situation our control method, we developed a real time Virtual Puma Robot based on RTLinux Operating System. This Virtual Robot contains a real time task which computes the differential non linear equation of the PUMA Robot including a virtual environment in order to perform a force control loop. Some interesting experimental results in the case of long distance (Mexico-France : ~7000 km) show the real improvement obtained with this method under some important mean time delay (~200ms). This addition enhances and secures the teleoperation through the Internet. The Virtual PUMA Robot server will be reachable on Internet and available for the conference to perform some real-time teleoperation experimentations via a Java HMI. Closing a loop through an IP network open some news application field such that a cooperated control for robotics systems via Internet.

Mots clés: Teleoperation; Supervisory control; Events; Internet; Telerobotics

Domaines: Robotique [cs.RO]

Philippe Fraisse, Cédric Agniel, David Andreu, Jose Armando Segovia de Los Rios. Teleoperation over IP Network: Virtual PUMA Robot. ICIT: International Conference on Industrial Technology, Dec 2003, Maribor, Slovenia. pp.669-674. ⟨lirmm-00269447⟩