Title :
Teleoperation of a Robot Arm System Using Pneumatic Artificial Rubber Muscles: Teleoperation over the Internet Using UDP and a Web Camera
Author :
Kato, Tomonori ; Higashi, Tomoaki ; Shimizu, Kenichi
Author_Institution :
Fac. of Eng., Fukuoka Inst. of Technol., Fukuoka, Japan
Abstract :
Teleoperation of pneumatic robots is desired in the fields of rescue, surgery, and rehabilitation therapy. In the present study, teleoperation control of a four-DOF robot arm system incorporating pneumatic artificial rubber muscles is proposed. In the experiment of the present study, the distance between the master and the slave systems is approximately 30km. Signals and images from the master controller side are sent over the Internet using user data gram protocol (UDP). The effectiveness of the proposed system is confirmed by the experimental results.
Keywords :
dexterous manipulators; manipulator kinematics; muscle; pneumatic actuators; rubber; telerobotics; transport protocols; master slave system; pneumatic artificial rubber muscle; robot arm; teleoperation control; user datagram protocol; Cameras; Computers; Joints; Manipulators; Pneumatic systems; pneumatic artificial rubber muscle; robot arm; teleoperation; user datagram protocol;
Conference_Titel :
Broadband, Wireless Computing, Communication and Applications (BWCCA), 2010 International Conference on
Conference_Location :
Fukuoka
Print_ISBN :
978-1-4244-8448-5
Electronic_ISBN :
978-0-7695-4236-2
DOI :
10.1109/BWCCA.2010.160
