Typical current absorbed 1–35 mA 100–350 mA

2。3 The Use of Android Devices in Robotics

There are several implementations of robot control over smart phones and using Bluetooth communication [13,16– 18]。 Reference [16] describes the system for communication with an articulated robot using Android device and Bluetooth。 Reference [17] proposes the system for environmental temperature monitoring using the mobile robot, Android device and Bluetooth communication。 Methods for connecting Android device with LEGO Mindstorms NXT robotic system are proposed in [13]。 The paper describes the use of Android device for remote control in LEGO Mind-storms NXT system via Bluetooth or USB connection。 Reference [18] describes how to control a robot using mobile device through Bluetooth communication that includes map based mode of controlling the robot。 By this mode, the robot can find the shortest path from defined start point to target point by avoiding all obstacles defined by the user or found while moving。 Existing solutions that use Bluetooth for communication [13,16–18] can provide communication only on shorter distance。

Wi-Fi-based solutions for monitoring and control of robot’s or machine’s motions are described in [19–22]。 Those solutions propose monitoring by using camera [19], by displaying values of the significant parameters as text [20], or by using 3D animation [21], and detecting of robot’s position by capturing camera images [19], by using sensors [20], or by using the profile of known environment [22]。

Reference [19] proposes an Android OS based robot control and monitoring system that uses 802。11x wireless LAN communication and camera for robot monitoring。 The image from the camera mounted on the robot in real time is delivered to the Smartphone through 802。11x wireless LAN。 The image size acquired from the camera is around 60-80k bytes, and this large data size makes image transfer by a Smartphone difficult without manipulating YUV image signals。 To keep less small size of image data the converting of the YUV image data to JPEG format is proposed in [19]。 This yields the image down to 2k bytes level。 Still, transferring smaller amount of data in short time intervals that is required for monitoring, can be more useful。 It also can be cost-effective in cases when the mobile provider’s Internet is used and when the user pays for each transferred byte。

Reference [20] proposes a Smartphone-based humanmachine interface for remote control of robot arm。 This solution uses the accelerometer and the gyroscope of the Smartphone for command generation and Wi-Fi protocol for communication。 The messages that are transferred in the communication are ASCII strings。 The monitoring is provided by displaying values of real-time data of all sensors, robot positions and the other significant parameters as text。 That kind of preview is not always suitable for obtaining a clear insight into the robot performance。

Another example of remote control applied to the CNC machine is proposed in [21]。 This system consists of an Android device that represents a client and the Windows Web server with hybrid application which combines SOAP web service to send and receive control information and Socket communication mechanism to timely update feedback data from the machine via the wireless network。 The developed hybrid application enables real-time process data update at rate of 30 ms。 Monitoring is obtained by using 3D visualization to animate the machine’s real-time operation。 The control is performed by filling out the text box or by sending movement directions within the touchscreen of Android device。 More intuitive humanrobot interface, which would facilitate the programming of robot tasks, would be of significance。

3。0 PROPOSED SYSTEM

3。1