1 Telerobotics Experiments via Internet

This paper describes design issues involved in providing remote users with internet access to laboratory or production line based hardware. Simulation tools for the robotic hardware were developed using C++ and VRML 97 to create a desktop virtual reality environment which improves the visualisation of the manipulator hardware and associated workspace. Communication between the remote user and project server via the internet, interface electronics and control software is also discussed. Off-line programming allows user to create and test user programmes inside a virtual robot cell. A collision detection software added to the robot virtual world enables production engineers to ensure that a robot can reach all the necessary points in a real world. Using of virtual reality simulator allows to reduce time for which the robot cell is out of production. Users using networked computers can access the on-line robot cell to perform a series of interactive experiments with realworld hardware including a real-time video supported Web controlled magnetic suspension system and a six degree-of-freedom MA2000 robot.