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these devices in the same local network [11]. In recent years this trend moved
from home applications to industrial implementations. Some of those imple-
mentations are connected with industrial robots. Instrumentation of industrial
robots is composed of various types of sensors for tracking information about
any changes in the workspace. Manufacturers of robots are still looking more and
sophisticated solutions searching the answer for increasing level of complexity of
such a type systems. The manufacturers offer additional modules to increase its
functionality but the costs offered by them are many times higher than the costs
of their existing equivalents [12].
In practical industrial uses, there are the online and oine programming. In
the online programming, the teach pendant is used to manually move the wrist
or joints to the intended position and orientation at each stage of the robot task.
Appropriate positions and orientations are sent to the robot control system and
a robot programme is then written. [3, 9, 12].
In SMEs a very popular technological solution is an automated flexible produc-
tion cell. The main weakness of such a type cell is the complexity of maintaining.
In the paper [4] authors provide a comprehensive review of the recent research
progresses on the programming methods for industrial robots, including online
programming, oine programming, and programming using Augmented Reality
(AR).
Today many scientific research are focused on multi robot control, safe control,
force control, 3D vision, remote robot supervision and wireless communication
[12]. Brogardh in his work [3] discuss and present the technical challenges that
the robot manufacturers meet. He claims that model-based control is now a key
technology for the control of industrial robots and models. The appearance of
new mobile devices such as smartphones, tablet computers or intelligent sensors
makes a contribution to broaden interaction and perception functionalities.
Additionally apart from programming, controlling and monitoring many ini-
tiatives have emerged in developing service robots (e.g. robots that operate in
a domestic environment and perform physical tasks). A very interesting idea of
remote service of robots was described by Osch, Bera and others in [8]. Many
theoretical studies concerning different mathematical control models can be ap-
plied in human-machine interface, some of them will be considered in future
works e.g. [2, 13-21].
2 Research Stand
The aim of the paper is to present the idea and implementation of the remote
programming, monitoring and control methods of industrial robots using smart-
phone or tablet computer.
In Fig. 1 the simplified scheme of the integrated remote control systems by
mean of mobile devices is shown. It is a way of providing remote human-machine
interface in the industrial robots application, which could be also adopted to
other industrial and nonindustrial applications.
In Fig. 2 the simplified closed algorithm of the integrated remote control
systems by means of mobile devices is shown. The process is composed of
 
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