E-003

Modeling and Simulation of Robotic Tasks Teleoperated through the
Internet

Authors: A. Leleve, P. Fraisse, P. Dauchez, F. Pierrot
Affiliation: LIRMM - UMR 5506 CNRS / Universite Montpellier II

Abstract
According to their research activities, some laboratories have to set up expensive full-scale experiments requiring the use of teleoperated robots. In order to limit these costs, it is of interest to share the same equipment between laboratories and to teleoperate it directly from each laboratory through the Internet. In this context, we have initiated a study on a basic teleoperation diagram. Starting from experiments with a terrestrial mobile manipulator, we have built a generic simulation model that has been used to find improvements for later teleoperation experimentations. The results presented in this paper are mainly based on simulations. Nevertheless, they will be very useful for the real experiments we are currently preparing.

Pierre DAUCHEZ
LIRMM
161, rue Ada
34392 Montpellier CEDEX 5
France
Tel : 04 67 41 85 61 (and from abroad : ++33 4 67 41 85 61)
Fax : 04 67 41 85 00 (and from abroad : ++33 4 67 41 85 00)
dauchez@lirmm.fr
dauchez@ieee.org