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首页> 外文期刊>IEEE Transactions on Industrial Electronics >A Multimodal Interface to Control a Robot Arm via the Web: A Case Study on Remote Programming
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A Multimodal Interface to Control a Robot Arm via the Web: A Case Study on Remote Programming

机译：通过Web控制机器人手臂的多模式界面：远程编程的案例研究

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In this paper, we present the user interface and the system architecture of an Internet-based telelaboratory, which allows researchers and students to remotely control and program two educational online robots. In fact, the challenge has been to demonstrate that remote programming combined with an advanced multimedia user interface for remote control is very suitable, flexible, and profitable for the design of a telelaboratory. The user interface has been designed by using techniques based on augmented reality and nonimmersive virtual reality, which enhance the way operators get/put information from/to the robotic scenario. Moreover, the user interface provides the possibility of letting the operator manipulate the remote environment by using multiple ways of interaction (i.e., from the simplification of the natural language to low-level remote programming). In fact, the paper focuses on the lowest level of interaction between the operator and the robot, which is remote programming. As explained in the paper, the system architecture permits any external program (i.e., remote experiment, speech-recognition module, etc.) to have access to almost every feature of the telelaboratory (e.g., cameras, object recognition, robot control, etc.). The system validation was performed by letting 40 Ph.D. students within the "European Robotics Research Network Summer School on Internet and Online Robots for Telemanipulation" workshop (Benicas-sim, Spain, 2003) program several telemanipulation experiments with the telelaboratory. Some of these experiments are shown and explained in detail. Finally, the paper focuses on the analysis of the network performance for the proposed architecture (i.e., time delay). In fact, several configurations are tested through various networking protocols (i.e., Remote Method Invocation, Transmission Control Protocol/IP, User Datagram Protocol/IP). Results show the real possibilities offered by these remote-programming techniques, in order to design experiments intended to be performed from both home and the campus.
机译：在本文中，我们介绍了基于Internet的远程实验室的用户界面和系统架构，这使研究人员和学生可以远程控制和编程两个教育性在线机器人。实际上，挑战在于证明将远程编程与先进的多媒体用户界面相结合进行远程控制对于远程实验室的设计非常合适，灵活且有利可图。通过使用基于增强现实和非沉浸式虚拟现实的技术来设计用户界面，这些技术增强了操作员从机器人场景获取信息/向机器人场景输入信息的方式。而且，用户界面提供了让操作员通过使用多种交互方式（即，从自然语言的简化到低级远程编程）来操纵远程环境的可能性。实际上，本文着重于操作员与机器人之间的最低交互级别，即远程编程。如本文所述，系统架构允许任何外部程序（例如，远程实验，语音识别模块等）都可以访问远程实验室的几乎所有功能（例如，摄像头，物体识别，机器人控制等）。 ）。通过让40位博士来进行系统验证。在“欧洲机器人研究网络互联网和在线机器人远程教育夏令营”工作坊（西班牙贝尼卡斯-西姆，2003年）中，学生使用远程实验室进行了一些远程操纵实验。其中一些实验已显示并详细说明。最后，本文着重分析了所提出架构的网络性能（即时间延迟）。实际上，通过各种网络协议（即，远程方法调用，传输控制协议/ IP，用户数据报协议/ IP）测试了几种配置。结果显示了这些远程编程技术提供的真正可能性，以便设计打算在家庭和校园中进行的实验。

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