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Remote Experiments With Mobile-Robot Hardware via Internet at Limited Link Capacity

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3 Author(s)
Zeiger, F. ; Dept. of Comput. Sci. VII: Robot. & Telematics, Julius-Maximilians-Univ. Wurzburg, Wurzburg, Germany ; Schmidt, M. ; Schilling, K.

Mobile robots provide a motivating basis for hardware experiments in kinematics, dynamics, and control topics. A suitable infrastructure is to be established in order to offer a worldwide user community of students' access to the mobile robots via Internet. Functionalities in the area safety, user-management, hardware interfaces, and constraints related to the available link quality must be taken into account. In this paper, in particular, aspects related to efficient teleoperation of mobile robots despite communication-link constraints are analyzed. Details of the technical implementation of the system architecture are described as well as characteristic performance measurements.

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Industrial Electronics, IEEE Transactions on  (Volume:56 ,  Issue: 12 )