Toward Implementation of Java / VRML Environment for Planning , Training and Tele-Operation of Robotic Systems

This paper presents an approach toward implementing Java and VRML environments for training and Teleoperation of Robotic Systems. Three methods were explored for such experiments, for communicating and message passing between Java and VRML programs. The first method includes routing approach. Using VRML script, all the nodes of the virtual world are routed to the Java applet. The Java program then controls the nodes in order to model a robot. In the second method all the VRML objects are made in the Java applet, and then the whole virtual world is sent as text to the VRML environment. The third method uses a prestructured template of a generic robot. All the nodes of the Robot are defined with DEF command, and they are accessed by Java though the browser. After gaining access to the nodes, Java has full control over the nodes, and can customize the robot. Then the robot can be used as a virtual model, and can be controlled as a graphical user interface of a real robot.