An internet-based system for remote planning and execution of SCARA robot trajectories

摘要

In this paper we describe an Internet accessible robot control laboratory, providing remote trajectory planning and execution for a SCARA robot. The laboratory provides students with hands-on experimental experience with a robotic manipulator. The system is based on client-server TCP/IP architecture. The server-side system, running on an ultimodule embedded platform, controls the 4DOF SCARA robot motion. A PC-based client application enables users to plan trajectories and download them to the motion controller. Trajectory execution can be observed in parallel on a virtual robot model and a camera video stream capturing robot motion.