The design and implementation of real-time internet-based telerobotics

摘要

This paper describes the main issues facing the development of telerobotic systems connected to the Internet. Mainly is concerned with the study of communication protocols and coding technique required in the conception of tools supporting real-time control and multimedia transport over the Internet. UDP is proved to be the better protocol used in real-time control than TCP. Audio and video data must be played back continuously at the same rate as when generated. But current Internet is unstable, like variable time delay and package losses, and multimedia traffic is extremely dense and heavy. To solve these problems, by using modified UDP protocol referred to RTP protocol, we present a 6-HTRT parallel robot system which not only achieves real-time transmission of both the H.263+ video and the G.729 audio, but also controls the movement of the robot with the Logitech ClickSmart510 via the Internet.