A New Internet Architecture for Robot Remote Control

Author

Wang, Quanyu ; Liu, Siyin ; Wang, Zhe

Author_Institution

Dept. of Comput. Sci., Beijing Inst. of Technol.

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

4989

Lastpage

4993

Abstract

A new server-decentralized Internet architecture based on Jabber for robot remote control is proposed in order to have high availability, performance, scalability, fault tolerance and security. Four components of the architecture: operators, robots, transfer servers and data-keeper are defined and functioned. The robot-controlling data/robot state data are packed with XML stanzas and delivered to the addressed robot/operator through XML streams. In order to test its availability, the architecture is implemented and instanced as a remote control simulation system of Puma560 robot. The system is experimented and a network test is carried out to evaluate the structure; the results show that the architecture is suitable for many kinds of robot remote control scenarios despite the tough network environment

Keywords

Internet; XML; computer architecture; control engineering computing; decentralised control; telerobotics; Jabber; Puma560 robot; XML; robot remote control; server-decentralized Internet architecture; Availability; Control system synthesis; Data security; Fault tolerance; Internet; Robot control; Scalability; System testing; Web server; XML; Jabber; Robot remote control; Robot simulation; XML;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282524

Filename

4059212