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Remote Control and Monitoring of AX-12 Robotic Arm Based on Windows Communication Foundation

2011; Springer Science+Business Media; Linguagem: Inglês

10.1007/978-3-642-23169-8_9

1867-5670

Michał Mikulski, Tadeusz Szkodny,

Robotics and Automated Systems

The paper proposes a service-oriented architecture system for control and state monitoring of robotic manipulators. Experiments were performed with the use of 4 degree-of-freedom AX-12 Robotic Arm manipulator with gripper and laser effector, as well as a high resolution GoPro Hero HD camera and frame grabber. Multimedia device management and video capture has been done via DirectShow.NET libraries. The infrastructure is based on Windows Communication Foundation (WCF) for remote access, authorization, multimedia streaming and servo control. Client manual control has been implemented with the use of 3 degree-of-freedom DirectX compatible Joystick. The paper summarizes development experiences and problems concerning the use of WCF in robotics.