Internet-based telerobotics of mobile manipulators: application on RobuTER/ULM

Authors:
B. Khiter;A. Hentout;E. Boutellaa;M. R. Benbouali;B. Bouzouia
Affiliations:
Division of Computer-Integrated Manufacturing and Robotics (DPR), Centre for Development of Advanced Technologies (CDTA), Algiers, Algeria;Division of Computer-Integrated Manufacturing and Robotics (DPR), Centre for Development of Advanced Technologies (CDTA), Algiers, Algeria;Division of Multimedia and Systems Architecture (ASM), Centre for Development of Advanced Technologies (CDTA), Algiers, Algeria;Division of Computer-Integrated Manufacturing and Robotics (DPR), Centre for Development of Advanced Technologies (CDTA), Algiers, Algeria;Division of Computer-Integrated Manufacturing and Robotics (DPR), Centre for Development of Advanced Technologies (CDTA), Algiers, Algeria
Venue:
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II
Year:
2012

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Abstract

Few works only deal with telerobotics of mobile manipulators via the Internet. This paper consists of a contribution in this research field and describes an Internet-based multi-agent telerobotic system of such robots. The developed system provides the operator with a human/robot interface, accessible via the Internet, for remote control of mobile manipulators. This interface displays all sensors data and video images delivered by the eye-in-hand IP camera. In addition, the interface allows the operator to perform primitive tasks, either separately by the manipulator or by the mobile base, or in cooperation by both of them. The proposed telerobotic system is implemented on the RobuTER/ULM mobile manipulator. The validity of the system is demonstrated through telerobotic experiments of four primitive tasks via the Internet over a long distance.