Telerobot on the Internet
Peter F. Elzer, Harald Friz, Ralf Behnke Institute of Process- and Production Control Technology (IPP)
Technical University of Clausthal (TUC)
D-38678 Clausthal-Zellerfeld, Germany
In the framework of a master«s thesis a user interface for an Internet telprobot has been developed. The work was a joint effort of the UWA and the IPP and mainly done in Australia. The authors are therefore indebted to Barney Dalton and Ken Taylor at the Department of Mechanical Engineering at The University of Western Australia, for providing the robot, lab room and advice. The interface overlays multiple monoscopic images of the robot's environment with a three-dimensional stick figure visualization of the robot's 5 degrees of freedom (DOF). The operator drags the elements of this visualization with a pointing device to obtain additional depth cues, measure size, location and orientation of objects, and to control the manipulator. This paper describes the interface design from a human-computer interaction perspective. The user interface was designed by applying the ecological approach of visual perception to visualize 5 degrees of freedom. This leads to a simple stick-figure-like structure that can be used to specify a pose in 3D space using only two-dimensional input devices. The user interface is implemented as a Java applet and can be used to control Australia's Telerobot on the Web at http://telerobot.mech.uwa.edu.au/.
The Internet is becoming the standard medium for digital communication and is also increasingly used to control devices at remote locations. Using standard Internet technology for telerobotic applications offers the advantage of low-cost