"Telerobotic Application" in Workspace with Obstacles Defined in XML

The presented paper describes a laboratory telerobotic system prepared to examine the usefulness and efficiency of our ideas about avoiding collisions with obstacles. The system is able to store in database information about positions of obstacles in the workspace. During the work system does not let the manipulator crash even the operator unintentionally wants to do it. All data describing the workspace with obstacles are stored in XML files. As slave, executive part of the whole system the industrial robot IRp-6 (manufactured in Poland, by ASEA license) is used. The master part of the system is the PC computer with trackball pointer – "Logitech TrackMan Marble FX".