Development of a teleoperated robot arm system using RSNP: Precise tasks performed using a predictive display

摘要

We developed a teleoperated robot arm system using the Robot Service Network Protocol (RSNP). RSNP is a standard communication protocol for service robots. In order to establish a common teleoperated robot system, we investigated the application of RSNP to our teleoperated robot and newly applied the RSNP to the robot's arm control. Performing precise tasks with a robot arm is usually difficult because of the communication time delay involved with data transfer via the Internet. Here, the method of predictive display was implemented in a teleoperated robot system, and a precise task was performed in experiments using the predictive display.