Communication between Robots and a Computer via the Internet Project

Final Report
Andreas Bernhard Max Hofmeier

Abstract
This report describes the final year project done by Andreas Hofmeier. The
project is aimed to develop the software tool for the communication between
robots and computers on the Internet to realise the remote control of robots via
the Internet.
The feasibility study of controlling robots on the Internet was re-examed, identifying
the certain restrictions affecting the communication and hence control on
the Internet. One conclusion has been drawn that the time delay is the most
important restriction is caused by the local network but not by the Internet.
Several approaches to the restrictions were studied and a promising method, the
line monitor, was developed.
A software platform in form of a library for GNU Linux was developed to provide
the necessary tools for implementing robot control on the Internet. The platform
is successfully used to control a Cartesian robot in laboratory test.
The results have proven that design methodology for the project are correct and
the theoretical results will benefit future development.

Aim and Objectives
Aim
The aim of the project is to develop a software platform on GNU Linux systems
(in the form of a library) for the communication between a server and robots to
realise remote control of robots over the Internet. The communication between
robots is allowed as well.
Objectives
1. (a) Feasibility study of real-time control of robots on the Internet.
(b) A block diagram of the architecture of an example system which can
control a robot remotely
2. (a) Developing the library
(b) Developing the simulator and the user interface (UI)
© Demonstrating the platform by using a simulation. Showing that it is
possible to control the simulated robot over an Internet connection.
3. (a) Developing an interface to the real robot
(b) Demonstrating the platform by means of the real robot. Showing that
it is possible to control the real robot over an Internet connection