Real-time remote control of a robot manipulator using Java and client-server architecture

Abstract

The control of complex systems through PC networks is becoming increasingly important nowadays, both in the industries and in R&D centers. In this paper, a novel architecture is described which provides 24-h-a-day access to a remote system for remote control or supervision. The system can be controlled by any PC's integrated in a TCP/IP network using a Client Server communication. The Client Server protocol is a custom light textual protocol that allows the fast update of the plant model also using a very small bandwidth communication link. The server controls the plant through two RS232 interfaces connected to the driver of the planar manipulator with two links and two non flexible joints. The clients are connected to the server through a TCP/IP network and they are granted plant control and supervision privileges through authentication. The client is made up of a console window representing the present state of the system both in textual and in graphical form. This window also contains the buttons which allow the control of the manipulator.