An intuitive approach for the design and implementation of omnidirectional telepresence robot
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Date
2018
Journal Title
Journal ISSN
Volume Title
Publisher
UMT.Lahore
Abstract
The telepresence robot is designed to set forth an economic solution to facilitate day
to day normal activities in almost every field. The applications of this robot include
the conference meeting, conducting interviews, distance learning, teaching, office meet ing etc. There are a number of proposed solutions to design telepresence robots e.g
Skype and team viewer, but it is pretty silly to use Skype and extra hardware. Video
transmission is achieved by using the WebRTC technology between client and user to
interface the control commands. The user can log in to the website and the robot could
be controlled using a GUI interface along with a separate window for video display. The
hosted WebRTC and java scripts translated the commands to the microcontroller to
translate the instruction. To achieve the efficient and reliable video transmission the
influence quality factors like quality of service (QoS) and bandwidth are resolved using
the WebRTC along with the integration of the communication protocols. To protect the
data transmission we have implemented the SSL protocol and installed on the server125.
To prevent the public access from the control panel we have designed a login page and
linked with the Microsoft SQL server to enhance the authentication process. The biggest
challenge was to make moving internet connection anywhere without any dependency.
The problem of the movement is resolved by Omni wheels as it does not require steering
angle. The telepresence robot could be controlled anywhere through the internet and
smooth motion of the robot is obtained by omnidirectional control. The robot is mod elled as a holonomic omnidirectional and equations of the modelling are implemented in
the microcontroller to obtain the omnidirectional movement. The whole process of the
robot is accomplished by three phases; two phases of the programming and one phase
of the hardware implementation. One phase is WebRTC integration with JavaScript
programming, second for microcontroller programming to control motion and third for
hardware implementation and software integration of the robot