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Proceedings Paper

Telemanufacturing workcell over the Internet
Author(s): Kent-Peng Leu; Marcelo H. Ang; Yoke-San Wong
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Paper Abstract

A workcell environment consisting of a robot and image acquisition system is et up for control over the Internet. The first phase of the project explores supervisory control of the workcell through the use of CGI, a standard for external gateway programs to interface with HTTP servers. Robot motion consists of movement to preprogrammed points and limited fine motion in 3 axes. Supervisory control is also extended to programming a series of motions for a robot to follow through. The current phase of the project abandons the use of CGI and the batch oriented regime of workcell control. A protocol is developed for the end-user interface program to communicate with a workcell server directly. Commands are sent to the server which in turn directs the robot to perform the associated motion.The workcell server also provides information for end-user interface programs to generate a 3D model of the robot setup. A separate HTTP- based video feedback system dispatches images to workcell supervisors. The work here provides basis on which to build a more general protocol for Internet control of not only robots but also other devices. A component approach towards building the workcell allows for hardware independence and the ease of integration of other elements of feedback.

Paper Details

Date Published: 18 December 1998
PDF: 8 pages
Proc. SPIE 3524, Telemanipulator and Telepresence Technologies V, (18 December 1998); doi: 10.1117/12.333690
Show Author Affiliations
Kent-Peng Leu, National Univ. of Singapore (Singapore)
Marcelo H. Ang, National Univ. of Singapore (Singapore)
Yoke-San Wong, National Univ. of Singapore (Singapore)

Published in SPIE Proceedings Vol. 3524:
Telemanipulator and Telepresence Technologies V
Matthew R. Stein, Editor(s)

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