Design of a PDA-based telerobotic system

Teleoperation system plays an important role in executing tasks under hazardous environments. Unfortunately, most of the traditional teleoperation systems are expensive and bulky thus not suitable to provide real-world services. This paper introduces a novel architecture for the teleoperation of mobile robot based on Personal Digital Assistant(PDA) with mobility, facility and low cost. The architecture mainly consists of a Sony AIBO robot and a PDA, which communicate with each other via wireless network. A client-server software architecture is employed, in which the client software is insulated from the low-level details of the server. TCP and UDP are respectively used to transmit control commands and feedback information to meet the different needs of the two kinds data. A friendly Graphic User Interface is also designed to make the teleoperation as maneuverable as possible. This architecture is implemented finally.The experiment results well demostrate the feasibility and effectiveness of such a PDA-based telerobotic architecture.

[1]  Kam S. Tso,et al.  Mars pathfinder mission Internet-based operations using WITS , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[2]  A. Ferworn,et al.  MAX: wireless teleoperation via the World Wide Web , 1999, Engineering Solutions for the Next Millennium. 1999 IEEE Canadian Conference on Electrical and Computer Engineering (Cat. No.99TH8411).

[3]  Francesco Mondada,et al.  KhepOnTheWeb: open access to a mobile robot on the Internet , 2000, IEEE Robotics Autom. Mag..

[4]  H. Hüttenrauch,et al.  PocketCERO – mobile interfaces for service robots , 2001 .

[5]  Ken Taylor,et al.  Internet robots: a new robotics niche , 2000, IEEE Robotics Autom. Mag..

[6]  Peter Xiaoping Liu,et al.  A modular structure for Intemet mobile robots , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[7]  Deborah Estrin,et al.  RAP: An end-to-end rate-based congestion control mechanism for realtime streams in the Internet , 1999, IEEE INFOCOM '99. Conference on Computer Communications. Proceedings. Eighteenth Annual Joint Conference of the IEEE Computer and Communications Societies. The Future is Now (Cat. No.99CH36320).

[8]  Kenneth Y. Goldberg,et al.  Desktop teleoperation via the World Wide Web , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[9]  Hande Kaymaz-Keskinpala,et al.  Analysis of perceived workload when using a PDA for mobile robot teleoperation , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[10]  Xiufen Ye,et al.  An UDP-based protocol for Internet robots , 2002, Proceedings of the 4th World Congress on Intelligent Control and Automation (Cat. No.02EX527).

[11]  Janusz Baczynski,et al.  Palm IIIc as advanced, low cost master part of teleoperation system , 2003, IEEE International Conference on Industrial Technology, 2003.