| Autor: |
John N. Lygouras, John Koutras, Kostas N. Tarchanidis, Theodore Pachidis |
| Rok vydání: |
2006 |
| Předmět: |
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| Zdroj: |
2006 IEEE Instrumentation and Measurement Technology Conference Proceedings. |
| ISSN: |
1091-5281 |
| DOI: |
10.1109/imtc.2006.235968 |
| Popis: |
This project uses an IDAC-1 board to sample the joint angle position of the PUMA 761 robot and log the results on a computer. The robot is at the task location and the logging computer is located in a different one. The task the robot is performing is based on a Pseudo Stereo Vision System (PSVS). Internet is the transport media. The protocol used in this project is UDP/IP. The actual angle is taken straight from the PUMA controller. High-resolution potentiometers are connected on each robot joint and are buffered and sampled as potential difference on an A/D converter integrated on the IDAC-1. The logging computer through the Internet acting as client asks for the angle set, the IDAC-1 responds as server with the 10-bit resolution sampling of the joint position. A 3D robot model is used to present the actual robot position. The whole task is logged in a file on the logging computer. This application can give the ability to the Internet user to monitor and log the robot tasks anywhere in the Word Wide Web (www). |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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