Web Remote Control Robot

In this tutorial, we will show you how to control your robot manipulator through web browser. We will use our handmade http web server, mjpeg streaming server, and robot server to achieve the goal. If you have not read the tutorial for HTTP Server, please read it first.

1. What is the Goal and what you need to have

Let's first take a look what are we going to achieve after this tutorial.

robot-control-video-20220301.mp4

1.1 Hardware and Documents you need to have

Hardware:

• Tinkerkit Braccio Robot
• Arduino UNO Rev3
• Raspberry Pi 3 Model B+
• Raspberry Pi Camera Module 2 (or other WebCam)
• USB 2.0 Cable Type A/B

Documents: The following codes can be downloaded from this repository Code folder.

File Name	Language	Function/Support	Purpose
http_server.c	C	HTTP Web Server	Web server, serving the web page to client web browser
mjpeg_server.c	C	Streaming Server	Streaming server, serving MJPEG to client web browser
picam.py	Python	Streaming Server	Communicate with Raspberry Pi Camera Module, output to mjpeg_server.c
robot_server.py	Python	Robot Server	Listen from http_server.c. Output command to Arduino UNO through serial. Respond to http_server.c.
utility.py	Python	Robot Server	Some function for robot_server.py
arduino_braccio.ino	C	Robot Control	Listen from robot_server.py through serial. Output to Tinkerkit Braccio Robot. Respond motor status to robot_server.py. This programming is uploaded to Arduino
index.html	HTML	Web Page	Web pages
mystyle.css	CSS	Web Page	Web pages style
robot.js	Javascript	Web Page	Web pages functions

2. System Overview

Please review the following system structure of our remote control robot design

2.1 Concept and System Structure

2.2 Hardware Connection

2.3 Software Compile and Execute

We put the Code folder (provided in this repository) under Raspberry pi /home/pi/Desktop. The command to run Http Server, Streaming Server, Robot Server are in the following image.

The Arduino folder is for Arduino, not for Raspberry pi