timeremotecontrolofarobotmanipulatorusingjava205)-.PDF

Real-Time Remote Control of a Robot Manipulator using Java and Client-Server Architecture F. M. RAIMONDI - L. S. CIANCIMINO - M. MELLUSO Dipartimento di Ingegneria dell’Automazione e dei Sistemi (D.I.A.S.) Università di Palermo Viale delle Scienze, 90 128 Palermo ITALY Abstract: - The control of complex systems through PC networks is becoming increasingly important nowadays, both in the industries and in RD centers. In this paper, a novel architecture is described which provides 24-h-a-day access to a remote system for remote control or supervision. The system can be controlled by any PCs integrated in a TCP/IP network using a Client Server communication. The Client Server protocol is a custom light textual protocol that allows the fast update of the plant model also using a very small bandwidth communication link. The server controls the plant through two RS232 interfaces connected to the driver of the planar manipulator with two links and two non flexible j oints. The clients are connected to the server through a TCP/IP network and they are granted plant control and supervision privileges through authentication. The client is made up of a console window representing the present state of the system both in textual and in graphical form. This window also contains the buttons which allow the control of the manipulator. Key-Words: - Remote control, Planar Manipulator, Internet, Client, Server, Real-Time, RS232, Java, communication protocol. 1 Introduction to transfer, using the light textual protocol, only the In classical telerobotics the feedback of rich data, variations of the mathematical model state which are such