Biblio

This paper explores an innovative approach to the telerobotics reasoning architecture and networking, which offer a reliable and adaptable operational process for complex tasks. There are many operational challenges in the remote control for manufacturing that can be introduced by the network communications and Iatency. A new protocol, named compact Reliable UDP (compact-RUDP), has been developed to combine both data channelling and media streaming for robot teleoperation. The original approach ensures connection reliability by implementing a TCP-like sliding window with UDP packets. The protocol provides multiple features including data security, link status monitoring, bandwidth control, asynchronous file transfer and prioritizing transfer of data packets. Experiments were conducted on a 5DOF robotic arm where a cutting tool was mounted at its distal end. A light sensor was used to guide the robot movements, and a camera device to provide a video stream of the operation. The data communication reliability is evaluated using Round-Trip Time (RTT), and advanced robot path planning for distributed decision making between endpoints. The results show 88% correlation between the remotely and locally operated robots. The file transfers and video streaming were performed with no data loss or corruption on the control commands and data feedback packets.