Tiberkak Allal, Hentout Abdelfetah, Belkhir Abdelkader
Department of Mathematics and Computer Science, Faculty of Sciences, University Dr. Yahia Fares of Medea, Boulevard de l'ALN, Ain D'heb, 26000 Medea, Algeria.
Division of Robotics and Industrial Automation (DPR), Centre for Development of Advanced Technologies (CDTA), BP 17, 16303 Baba Hassen, Algiers Algeria.
Int J Intell Robot Appl. 2023;7(2):304-320. doi: 10.1007/s41315-023-00281-3. Epub 2023 Apr 25.
This article describes a contribution to the field of telerobotics via the Internet through the development of a web-based platform allowing the remote control of robots by multiple users, simultaneously. It also deals with minimizing the execution times of tasks by reducing connection and interaction delays. For this purpose, the () technology is utilized. The developed remote manipulation system allows the operators to visualize the robot, its surroundings and the data incoming from its sensors, and to carry out basic tasks, either independently by the manipulator or by the mobile robot, or jointly by both mechanical sub-systems. In addition, to ensure the control of the remote robot by several operators simultaneously, a priority system managing parallel tasks and a chat system between the operators have been proposed. Besides, many teams are able to exploit the robot, concurrently. The WebRTC-based () telerobotic platform is validated on the emulator of the mobile manipulator through various scenarios of primitive tasks over the Internet.
本文通过开发一个基于网络的平台，介绍了对远程机器人技术领域的一项贡献，该平台允许多个用户同时远程控制机器人。它还致力于通过减少连接和交互延迟来最小化任务的执行时间。为此，采用了（）技术。所开发的远程操纵系统使操作员能够可视化机器人、其周围环境以及来自其传感器的传入数据，并执行基本任务，这些任务既可以由操纵器独立执行，也可以由移动机器人独立执行，或者由两个机械子系统联合执行。此外，为了确保多个操作员同时控制远程机器人，提出了一个管理并行任务的优先级系统和操作员之间的聊天系统。此外，许多团队能够同时使用该机器人。基于WebRTC的（）远程机器人平台通过在移动操纵器模拟器上通过互联网进行各种原始任务场景的测试得到了验证。
