O uso de realidade virtual em sistemas telerobóticos baseados na internet.

Abstract

An Internet-Based-Telerobotic system has been developed in the research here reported. The system consists of a graphic user interface with virtual representation of the robot and of the worksite, and a panel for off-line planning robot tasks. the tasks can be sent via internet to the remote environement, where they are executed, and the result, can be visualized on-line in a virtual environement, at the client side. the virtual environement receives updapes of robot and objects positions at the robot worksite via Internet, thus eliminating the need for a full image transmission. The use of virtual environement in this systems allows: (1) time delays inherent to Internet to be suppressed; (2) work of the operator to be simplified and accelerated, compared to sistems that useTV images. However, the virtual and physical environments have to remain synchronized so that the virtual environment can fit the physical environment in a more realistic way, mainly if it is a dynamic one.To deal with this issue, this work proposes a solution based on Petri nets to do the integration of virtual and physical environments through the image processing techniques, so that they remain synchronized and assuring updates of virtual environment for subsequent operations.