WiFi-based control of a robotic arm with remote vision

Abstract

This paper presents the design of a controller intended for teleoperation. It is capable of controlling an anthropomorphic robotic arm through a LAN or via the Internet. The system uses several interdependent processing modules to provide numerous functionalities, and makes use of the already widespread Wi-Fi technology as its wireless communications medium. The user can control the robotic arm remotely and access its sensory feedback signals as well. The camera mounted on the robot arm takes images and transmits to the control station. The system 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.