UM SISTEMA DE COMUNICAÇÃO VIA SOCKET EM UMA REDE WI-FI PARA CONTROLE DE UM ROBÔ DE INSPEÇÃO.

This paper presents an application developed to control remotely an inspection robot. To build the electromechanical design we used a kit Lego Mindstorm NXT. The application was developed in Java and has a graphical interface that allows operating and controlling the robot remotely through routines that run in a client/server environment. Communication between controller station (server) and robotics station is made using a Wi-Fi network, which runs over TCP (Transmission Control Protocol) and UDP (User Datagram Protocol), along with the IP (Internet Protocol) configured in a communication port. A second application layer was developed with a set of instructions (sockets) responsible for communicating and for controlled robot movements, which are transmitted from the host server to the client station. To model the system, controls events and states of robotic components were used some diagrams of the UML 2.4. The robotic component was built using a wooden frame, one NXT controller core and three servo motors Lego Mindstorm NXT, and a computer station to send and receive wi-fi signals. To permit the operation and control from a distance, it became necessary to install a Webcam on one of the servo motors with rotations to the right and left. The purpose of the Webcam is to capture images of the environment through the client station and send them to the server in real time, through the RTP (Real-time Transfer Protocol). A set of sockets has been used to send operating commands from the host server to the robotic component. Thus, the handling robot controller is possible and the monitoring of the environment to be inspected. [ABSTRACT FROM AUTHOR]