| Telerobotics is a scheme that allows humans to extend their manipulative skills over a network by combining human's cognitive skills and robot's specialized working abilities. Efficient control of the robot over LAN in the presence of time delays and data loss is a dynamic research field. The purpose of this work is to implement a reliable teleoperation of PUMA 560 robot over a LAN. In order to pursue this goal, a completely distributed telerobotic framework is developed using NET Remoting and SOAP (Simple Object Access Protocol technologies to provide multistream, multithreaded environment for real-time interaction between client and server side components. Computer vision and force feedback techniques are implemented and their performance is evaluated in order to enhance the maneuverability of the operator telemanipulating the robot. |
