外文翻译--一种低成本实验遥控机器人系统.doc

A Low Cost Experimental Telerobotic Systems A. Zaatri Mechanical Department Laboratory University Mentouri of Constantine, Algeria /new/Confs/IWC_05/docs/Zaatri.doc Abstract This paper presents the development of a low cost experimental telerobotic system built up with local means in an emerging country (Algeria). From a remote site, a webcam sends images of a robot manipulator through Internet to the control site where a human operator remotely monitors this robot in order to achieve pick-and-place tasks. Some control modes have been implemented and tested such as mouse-click, image-based and gesture-based modes. Very encouraging pedagogical results have been obtained in this attractive and complex field of modern technology. 1. Introduction In developing countries, very hard constraints and difficulties are imposed to students and researchers leading usually to inadequate pedagogic results, especially when attempting to learn and experiment complex modern systems. These constraints may stem from the lack of economical budgets, from a bureaucratic discouraging environment, from a mismach between university and industry, etc. One interesting and challenging field to investigate and to experiment by students in emerging countries concerns the design of modern technology applications such as the development of low cost experimental telerobotic systems. Indeed, this helps to understand and master how to combine both engineering and information technologies in order to built complex systems. In this context, some pedagogic telerobotic systems are available through Internet such as the mobile robot Xavier [1], and the web robot ABB of Australia [2]. However, as far as we know, none are available in developing countries. Therefore, to introduce this challenging technology, a didactic program has been launched based on the following steps: -build up robot arm manipulators. -build up a pantilt unit (ptu) for controlling a webcam orientation. -implement robot control so