This is a TCP/IP connection between Robot Arm Operator Master (PC1) and Robot Arm Operator Slave (PC2). The slave application has direct control of both the robotic arm RC1 (RS232) and the video camera that is filming the RC1 pick-up area. The TCP/IP connection is used to pass robot operations and snapshot requests from the master to the slave, and the respective responses (from RC1) and images from the slave to the master. The operations, requests and responses are sent as strings of text, and their size is between 2 and 30 Bytes. The images are 640x480 pixels large with 24 bit color, are compressed in JPEG format and their size is between 8 and 16 Kbytes and are sent from PC2 to PC1 sporadically, whenever there is the need to initiate an unload operation by the robotic arm.
