Integration of a virtual environment and 3D modelling tools in a networked robot system

This paper presents interfacing techniques to integrate a virtual environment (VE), computer graphics, image-based modeling, and other technologies in a networked system for robot control. Technologies such as networked robotics have advanced rapidly in the past decade, bringing a physical aspect to the usage of the Internet. Various applications of Internet telerobotics have been investigated and a variety of techniques have been proposed to increase the control robustness and efficiency of such systems. In this paper, we introduce a teleoperated robot manipulator that uses VE and other supporting technologies as a human-system interface to suppress the variable communication latency of the Internet. The paper focuses on the control techniques and the system structure that supports the implementation of the techniques.