Development of a client-server communication method for Matlab/Simulink based remote robotics experiments

Turan A., Bogosyan S., Gökaşan M.

IEEE International Symposium on Industrial Electronics, Montreal, Kanada, 9 - 13 Temmuz 2006, ss.3203-3205 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Montreal
  • Basıldığı Ülke: Kanada
  • Sayfa Sayıları: ss.3203-3205
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

This paper describes the development of a client-server communication method using the TCP/IP protocol to run Matlab/Simulink compatible motion control units operating on the remote server side. The developed method is currently in use to allow access to a hardware-in-the-loop (HIL) robot simulator developed for both on-site and remote use at the Control Laboratory in the University of Alaska Fairbanks (UAF). The client-server communication is developed in C/C++ using wxWidgets to communicate with the Matlab/Simulink downloadable DS 1104, which is used to develop a variety of robot dynamics configurations and control algorithms on the robotic simulator. Practical case study results from a remotely conducted graduate robotics project are also presented in relation to a 1111, simulator developed for the real-time simulation of PUMA-type robots. The UAF remote laboratory web site can be accessed at: http://www.uaf.edu/ece/emote-robotics