2. Web Operated Robot Arm Matanya Elchanani and Tarek Sobh University of Bridgeport Department of Computer Science and Engineering Robotics, Intelligent Sensing and Control RISC Laboratory

3. The Basic Idea ä Robots are controlled locally ä The internet can be used as a link between the robot and its control panel ä A simple web browser can be used to fully control the robot

4. System Requirements ä A robot arm ä Computer controlled robot controller ä PC running as the robot server ä An HTTP server running the robot client program ä A WWW forms capable browser

5. Flow sequence - command path ä Browser request received by HTTP server ä HTTP server initiates cgi-bin program ä Cgi-bin program sends a command over a TCP/IP socket to the robot server ä Robot server receives command, interprets it, applies inverse kinematics, and sends it to the robot controller via RS-232C link ä Robot controller actually moves robot

6. Flow sequence - Feedback path ä Controller sends “end of movement” signal to the robot server ä Robot server grabs a picture of the robot and sends it to cgi-bin program over TCP/IP socket ä Cgi-bin program receives the picture, generates a HTML page and sends it to the WWW browser ä Browser shows the current robot position

7. Future goals ä Queuing access control system ä User timeout controller ä Distance learning screens ä Stereoscopic positioning control ä Velocity control ä Sensor controlled gripper

8. THE END Created by: Matanya Elchanani