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Proceedings Paper

Web-based telerobotics system in a virtual reality environment
Author(s): Weimin Ge; Zuoliang Cao; Shangxian Peng; Qiyuan Sun
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Paper Abstract

The limitation for a web-based teleoperation system involves time delay in communication. Undesirable communication time delay causes system instabilities. Various techniques have been proposed to alleviate such control problems. This paper proposes an approach that develops a telerobotics system with a wireless web server/client application framework, which employs virtual reality technique to minimize the delay effects. A novel virtual tracker was developed, which acquires the real position and orientation of a mobile robot, and drives the virtual reality scene to display on the remote computer and change with the movements of a mobile robot. This requires only the robot position and orientation data, instead of transmission of the huge amount of video stream data from the robot to the client computer. As a result, the time delay effects can be ignored and system stability achieved. The experimental results have demonstrated the solution for teleoperation technology.

Paper Details

Date Published: 30 September 2003
PDF: 9 pages
Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); doi: 10.1117/12.515026
Show Author Affiliations
Weimin Ge, Tianjin Univ. (China)
Zuoliang Cao, Tianjin Univ. of Technology (China)
Shangxian Peng, Tianjin Univ. (China)
Qiyuan Sun, Tianjin Univ. (China)

Published in SPIE Proceedings Vol. 5267:
Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision
David P. Casasent; Ernest L. Hall; Juha Roning, Editor(s)

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