Web Operated Robot ArmWeb Operated Robot Arm

Matanya Elchanani and Tarek Sobh

University of BridgeportDepartment of Computer Science and Engineering

Robotics, Intelligent Sensing and ControlRISC Laboratory

The Basic IdeaThe Basic Idea

Robots are controlled locally The internet can be used as a link between

the robot and its control panel A simple web browser can be used to fully

control the robot

System RequirementsSystem Requirements

A robot arm Computer controlled robot controller PC running as the robot server An HTTP server running the robot client

program A WWW forms capable browser

Flow sequence - command pathFlow sequence - command path

Browser request received by HTTP server HTTP server initiates cgi-bin program Cgi-bin program sends a command over a

TCP/IP socket to the robot server Robot server receives command, interprets

it, applies inverse kinematics, and sends it to the robot controller via RS-232C link

Robot controller actually moves robot

Flow sequence - Feedback pathFlow sequence - Feedback path

Controller sends “end of movement” signal to the robot server

Robot server grabs a picture of the robot and sends it to cgi-bin program over TCP/IP socket

Cgi-bin program receives the picture, generates a HTML page and sends it to the WWW browser

Browser shows the current robot position

Future goalsFuture goals

Queuing access control system User timeout controller Distance learning screens Stereoscopic positioning control Velocity control Sensor controlled gripper

THE ENDTHE END

Created by: Matanya Elchanani