A robotic tele-drill system over network using predictive display

0 IntroductionMuch research has been done for a long distancetelerobotic operation using exclusive communicationlines .These systems havetheir owncommunicationlines and areused for special purpose ,like space operation, nuclearmaterial handling,robotic telesurgery,etc . Withthe de-velopment of computer networklike Internet ,a teleopera-tionsystemusing it attracts much attention. Using Inter-net has more advantages than using exclusive communica-tionlines . For example ,it is cheaper and can …

A robotic tele-drill system over network using predictive display

Based on a robotic telesurgery system whose function is to liberate doctor from X-ray radiation, a robotic tele-drill system is constructed. The system is in client/server structure. Client part includes main control interface, video-audio interface and predictive display interface. Server part includes robot control server and video, audio server. For applying to teleoperation, a virtual reality environment of the system developed by using Java, Java 3D, Pro/E, etc. is established. The geometry and kinematics model of serial robot MOTOMAN sv3x, parallel robot, C-type arm and X-ray machine, surgery bed and its work environment are fulfilled in it. Simulation engine and its simulation syntax are finished, which made the environment controllable. This environment is used as predictive display interface in the telerobotics in order to tackling the problem in visualization feedback as ambiguous or time delay. Experiments that verified feasibility of the system have been done.