CANADIAN VIRTUAL LABORATORY FOR TELE-EDUCATION IN AEROSPACE AND MECHATRONICS

Abstract Virtual laboratories and remote access to experimental hardware have become feasible with the advent of high-level web-based languages and communication protocols. In this paper, we introduce an international co-operation, the principal objective of which is to develop a Virtual Laboratory for tele-education and research in aerospace and mechatronics. The project involves several universities in Canada and Europe, each offering a test facility for the laboratory. The paper describes in detail the hardware, system architecture and experiments developed at one of the nodes of the Virtual Laboratory, the Planar Robotics facility at the University of Victoria.

[1]  Inna Sharf,et al.  DEVELOPMENT OF A PLANAR MACRO-MICRO MANIPULATOR FACILITY : FROM DESIGN THROUGH MODEL VALIDATION , 1998 .

[2]  Wayne J. Book,et al.  Environment estimation for enhanced impedance control , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[3]  N. Hogan,et al.  Impedance Control:An Approach to Manipulation,Parts I,II,III , 1985 .

[4]  G.M.T. D'Eleuterio,et al.  Development of a multiagent robotic system with application to space exploration , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).

[5]  Homayoun Seraji,et al.  Force Tracking in Impedance Control , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[6]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation , 1984, 1984 American Control Conference.

[7]  Inna Sharf,et al.  Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks , 2000, Int. J. Robotics Res..

[8]  J. Goncalves A Test Facility for Multi-armed Space-based Manipulators , .

[9]  David E. Orin,et al.  A compliant contact model with nonlinear damping for simulation of robotic systems , 1999, IEEE Trans. Syst. Man Cybern. Part A.

[10]  M. H. Shor,et al.  Remote-access engineering educational laboratories: who, what, when, where, why, and how? , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[11]  Neville Hogan,et al.  Impedance Control: An Approach to Manipulation: Part I—Theory , 1985 .