简介：ThispaperpresentsourexperienceindevelopingandimplementingInternetteleroboticssystem.InternetteleroboticssystemreferstoarobotsystemcontrolledandmonitoredremotelythroughtheInternet.Arobotmanipulatorwithfivedegreesoffreedom,calledMentor,isemployed.Client-serverarchitectureischosenasaplatformforourInternetteleroboticssystem.Threegenerationsofteleroboticssystemshaveevolvedinthisresearch.ThefirstgenerationwasbasedonCGIandtwotieredarchitectures,whereaclientpresentsaGraphicalUserInterfacetotheuser,andutilizestheuser'sdataentryandactionstoperformrequeststorobotserverrunningonadifferentmachine.ThesecondgenerationwasdevelopedusingJava.WealsoemployJava3Dforcreatingandmanipulating3Dgeometryofmanipulatorlinks,andforconstructingthestructuresusedinrenderingthatgeometry,resultingin3Drobotmovementsimulationpresentedtotheusers(clients)throughtheirwebbrowser.RecentdevelopmentinourInternetteleroboticsincludesobjectrecognitionthroughimagecapturedbyacamera,whichposeschallengingproblem,givingtheundeterministiclatencyoftheInternet.ThethirdgenerationiscenteredaroundtheuseofCORBAfordevelopmentplatformofdistributedinternetteleroboticssystem,aimedatdistributingtaskofteleroboticssystem.