Cloud Computing Services for Real Time Bilateral Communication, Applied to Robotic Arms

摘要

This work presents the design of a bilateral teleoperation system for a robotic arm. It proposes a new prototype communication protocol with Websockets for the communication and Json for data structuration on a cloud computing environment with OpenStack and Openshift Origin. The human operator receives visual and force feedback from the remote site, and it sends position commands to the slave. Additionally, in the tele-operation system it is proposed that the human operator is immersed in an augmented reality environment to have greater transparency of the remote site. The transparency of a tele-operation system indicates a measure of how the human feels the remote system. Finally, the experimental results are reported to verify the performance of the proposed system.