Telerobotics experiments via Internet

摘要

Many enterprises experience difficulty in training people to work with expensive equipment, which is needed for carrying out profitable work tasks (e.g., production line robots). Similar problems are found when work is of a complex and safety-critical nature (e.g., nuclear environments, explosive placement, surgery). This paper describes a method of education and training involving offline usage of virtual environments for task planning. When tasks are developed to the satisfaction of the trainee, they are exported to remote physical hardware, via the Internet, for real-world execution. Development of the system and the training experiments is discussed, along with some of the issues raised for telerobotics and solutions to the problem of detecting collisions in the virtual world. The approach has been shown to be viable and increases the education and training possibilities for key workers while maintaining a low cost of ownership. The downtime of mission-critical equipment is minimized while the gaining of valuable experience is maximized.