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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
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