Reliable robot teleoperation service architecture for various controllers and robots

摘要

We propose a robot teleoperation service architecture that enables us to control robot more reliable. Reliability is one of key issues in the researches of network based robot architectures. Most of researches on robot architecture are to solve network related problems like latency or disconnection by implementing artificial intelligence at robots. In this paper, we explain 3-tier client-server network-based Robot Teleoperation Service Architecture. Users, who control the robot, can use any controllers and robots by this service architecture. Even if users are using two controllers and one robot, Kalman-based Signal Filter is reinforcing and separating these signals constantly. This kind of approach provides control that is more accurate and the result of test systems proves the proposed architecture reliability.