Design of a web-enabled anthropomorphic robotic arm for teleoperation

摘要

In this paper we present the design of a web-enabled anthropomorphic robotic arm which is intended for teleoperation. The system consists of several interdependent processing modules to provide numerous functionalities. The device makes use of the already widespread WiFi technology as its wireless communications medium. This allows use of existing wireless networking infrastructure to communicate with the device. An internet user can log in to a web server running on a PC which is at the heart of the Wireless Communications and Control Module (WCCM) of the robot controller. The user can control the robotic arm remotely and access its sensory feedback signals as well. The WCCM has been designed with project portability in mind, and consequently will require minimal modification for other applications. The robot arm is controlled using a master-slave control methodology.