【摘要】 采用IGRIP(InteractiveGraphicsRobotInstructionProgram)建立了弧焊机器人工作单元空间场景模型,基于Internet实现了机器人的远程运动仿真.在仿真的基础上,采用CORBA-CGI(CommonObjectRequestBrokerArchitecture-CommonGatewayInterface)方式实现了弧焊机器人的Internet远程控制.同时,通过现场摄像机,机器人的运动视频可以反馈回操作者的Web页面,这样操作者就可以远程监控机器人的运动.控制实验表明,该机器人远程运动控制方案是可行、有效的.更多还原

【Abstract】 A workspace scene model of welding robot workcell was established by interactive graphics robot instruction program (IGRIP). Robots’ remote motion simulation was realized via Internet. Based on the results of simulation, the Internet based remote control of robots is realized with common object (request) broker architecture-common gateway interface(CORBA-CGI) paradigm. Meanwhile, the robots (motion) video can be fed back to the operator on the Web. The operator can supervise the motion of robots (simultaneously) at a distance. The experimental results indicate that the scheme is feasible and provides a (basis) for Internet based supervisory control of arc welding robot workcell.更多还原