RH6-based multi-robots teleoperation experimental system

Author

Jingtai, Liu ; Gang, An ; Xin, Zhao ; Wei-Min, Xu ; Shuihua, Wu ; Lei, Sun ; Wenwu, Na ; Xingbo, Huang

Author_Institution

Inst. of Robotics & Autom. Inf. Syst., Nankai Univ., Tianjin, China

Volume

2

fYear

2003

fDate

8-13 Oct. 2003

Firstpage

820

Abstract

The CAN-based RH6 control system is developed by the Institute of Robotics and Information Automatic System, Nankai University. In this system, users can operate the robot through high-level instructions on host computers. Furthermore, based on this system, an experimental teleoperating robot system was also built. The experiment results demonstrate that through our alteration, the RH6 robot can meet the research requirements for the teleoperating robot system. This paper mainly focuses on the CAN-BUS based RH6 control system, the architecture and the implementation of the RH6-based teleoperation robot system, and the experiment. At the end of this article, we give our conclusion and forecast of the experimental system.

Keywords

client-server systems; control engineering computing; controller area networks; field buses; multi-robot systems; telerobotics; transport protocols; user interfaces; CAN bus based RH6 control system; Institute of Robotics and Information Automatic System; RH6 based teleoperation robot system; client-server system; controller area networks; high level instructions; host computers; man-machine interface; multirobots system; transport protocols; Clocks; Communication system control; Computer aided instruction; Computer architecture; Control systems; Protocols; Robot control; Robot kinematics; Robotics and automation; Synchronization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on

Print_ISBN

0-7803-7925-X

Type

conf

DOI

10.1109/RISSP.2003.1285692

Filename

1285692