Virtual User Interface for the Remote Control of a Nano- Robotic Cell Using a Haptic-Device

摘要

This paper describes the development of a virtual user interface for the remote control of a nano-robotic production cell. The user interface combines two different software applications, built on two different software platforms. The first-host application is based on a LabView 8.5 software package and runs on a real-time target. It is used as a communication interface between the nano-robotic cell and a remote user interface. The remote application was created within a Microsoft Visual C 6.0 software package using C++ programming language. It is used for the virtual remote control of a nano-robotic cell. Depending on production demands, the remote user can choose between two different control techniques. The first one is a classical input algorithm where the user sets any move trajectory of the nano-robotic cell directly through a remote user interface. Each axis separately or all axes together can be moved in this way. Another control option supports acquiring movement trajectory using a haptic-device. In this regime the user receives real-time force feedback information which makes remote control even more realistic. Both control regimes are supported by an animated, virtual, VRML model of the target application. This VRML model is used for off-line simulation or real-time monitoring of the target application movement. UDP protocol is used as a basic communication protocol between the host and remote applications.