International Journal of Precision Engineering and Manufacturing

Korean Society for Precision Engineering (한국정밀공학회)
권호 표지

Mobility Improvement of an Internet-based Robot System Using the Position Prediction Simulator

  • Published : 2005.07.01
Download PDF
⟨ Previous Next ⟩

Abstract

With the rapid growth of the Internet, the Internet-based robot has been realized by connecting off-line robot to the Internet. However, because the Internet is often irregular and unreliable, the varying time delay in data transmission is a significant problem for the construction of the Internet-based robot system. Thus, this paper is concerned with the development of an Internet-based robot system, which is insensitive to the Internet time delay. For this purpose, the PPS (Position Prediction Simulator) is suggested and implemented on the system. The PPS consists of two parts : the robot position prediction part and the projective virtual scene part. In the robot position prediction part, the robot position is predicted for more accurate operation of the mobile robot, based on the time at which the user's command reaches the robot system. The projective virtual scene part shows the 3D visual information of a remote site, which is obtained through image processing and position prediction. For the verification of this proposed PPS, the robot was moved to follow the planned path under the various network traffic conditions. The simulation and experimental results showed that the path error of the robot motion could be reduced using the developed PPS.

Keywords

References

  1. Goldberg, K., Gentner, S., Sutter, C. and Wiegley, J., 'The Mercury Project: A Feasibility Study for Internet Robots,' IEEE Robotics & Automation Magazine, Vol. 7, No.1, pp. 35-40, 2000
  2. Taylor, K., Dalton, B. and Trevelyan, J., 'Web-based telerobotics,' Robotica, Vol. 17, pp. 49-58, 1999 https://doi.org/10.1017/S0263574799000752
  3. Stein, M. R., 'Interactive Internet Artistry,' IEEE Robotics & Automation Magazine, Vol. 7, No.2, pp. 28-32, 2000 https://doi.org/10.1109/100.848265
  4. Simmons, R., Fernandez, J. L., Goodwin, R., Koenig, S. and O'Sullivan, J., 'Lessons Learned from Xavier,' IEEE Robotics & Automation Magazine, Vol. 7, No. 2, pp. 33-39, 2000 https://doi.org/10.1109/100.848266
  5. Grange, S., Fong, T. and Baur, C., 'Effective Vehicle Teleoperation on the World Wide Web,' Proc. of the IEEE Intl. Conf. on Robotics and Automation (ICRA 2000), pp. 2007-2012, 2000 https://doi.org/10.1109/ROBOT.2000.844889
  6. Schulz, D., Burgard, W., Fox, D., Thrun, S. and Cremers, A. B., 'Web Interfaces for Mobile Robots in Public Places,' IEEE Robotics & Automation Magazine, Vol. 7, No. 1, pp. 48-56, 2000 https://doi.org/10.1109/100.833575
  7. Maeyama, S., Yuta, S. and Harada, A., 'Remote Viewing on the Web using Multiple Mobile Robotic Avatars,' Proc. of the 2001 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems, Oct. 29-Nov. 03, pp. 637-642, 2001 https://doi.org/10.1109/IROS.2001.976241
  8. Kim, W. S. and Bejczy, A. K., 'Demonstration of a High-Fidelity Predictive/Preview Display Technique for Telerobotic Servicing in Space,' IEEE Transactions on Robotics and Automation, Vol. 9, No. 5, pp. 698-702, 1993 https://doi.org/10.1109/70.258061
  9. Kikuchi, J., Takeo, K. and Kosuge, K., 'Teleoperation system via computer network for dynamic environment,' Proc. of IEEE International Conference on robotics and Automation, pp. 3534-3539, 1998 https://doi.org/10.1109/ROBOT.1998.680988
  10. Elliott, E. D. and Eagleson, R., 'Web-Based Tele-Operated Systems Using EAI,' Systems, Man, and Cybernetics, Computational Cybernetics and Simulation, IEEE Intl. Conf., Vol. 1, pp. 749-754, 1997 https://doi.org/10.1109/ICSMC.1997.626180
  11. Belousov, I. R., Tan, J. and Clapworthy, G. J., 'Teleoperation and Java3D Visualization of a Robot Manipulator over the World Wide Web,' Information Visualization, IEEE Intl. Conf., pp. 543-548, 1999 https://doi.org/10.1109/IV.1999.781610
  12. Chong, N. Y., Kotoku, T., Ohba, K., Sasaki, H., Komoriya, K. and Tanie, K., 'Multioperator Teleoperation of Multirobot Systems with Time Delay: Part II-Testbed Description,' Presence: Teleoperators and Virtual Environments, Vol. 11, No. 3, pp. 292-303, 2002 https://doi.org/10.1162/105474602317473231
  13. Lee, K. H., Lee, Y. B., Kim, S. H. and Kwak, Y. K., 'Distance Error Compensation of Internet-based Robot System Using Position Prediction Simulator,' Journal of the Korean Society of Precision Engineering, Vol. 20, No.5, pp. 108-115, 2003