基于手臂机器人控制的远程实验系统

【作者】 黄斌；

【导师】 桂卫华；

【作者基本信息】 中南大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 实验教学是大学教育中非常重要的一个环节，但是传统实验教学存在着实验安排不灵活，仪器维护困难等弊端。虚拟实验室的诞生在很大程度上解决了传统实验教学中存在的问题，但是虚拟实验以软件来模拟实验仪器，难以反映实验的现场特性，与实际的硬件实验仍然存有差距。 针对当前实验教学中存在的不足，本论文在探索远程实验教学发展的前提下，提出了一种将硬件实验资源网络化的解决方案，并根据此方案设计了一套面向控制类专业的基于手臂机器人控制的远程实验系统，系统以手臂机器人装置作为实验控制对象，采用基于B／S的设计模式，旨在使学生能够直接通过Internet控制远程实验室的手臂机器人装置，为学生提供一个基于硬件控制适用于控制理论教学和研究的网络化实验平台。 本文在提出整个远程实验系统构成的基础上，详细介绍了后台控制子系统的设计和实现。后台控制子系统包括手臂机器人系统以及后台控制服务器。手臂机器人系统是自行开发的拥有一阶自由度的机器人实验模型，它用一个金属条模拟人的手臂在二维平面内转动，属于典型的二阶随动系统，硬件电路以PIC16C74A单片机作为下位机，实现和PC机的并行口通信及对手臂信号的采集和控制，能很好地满足实时控制的要求。后台控制服务器为整个远程实验系统提供后台控制服务，一方面利用直接I／O读取和多媒体定时器实现与单片机的高精度定时通信，另一方面基于TCP协议和Winsock编程接口实现了数据在网络上的传输，控制服务器软件基于Visual C++的开发环境实现，代码效率高，实时性好。 系统运行结果表明，用户可以在Internet上以不同的控制算法、不同的控制参数在线控制远程实验室的手臂机器人装置，获取动态实时的响应曲线，同时可以通过网络摄像机看到实验的运动现场，这充分说明了后台控制子系统设计的良好性能和远程实验系统方案的可行性，同时，运行结果也充分说明该系统能有效地实现硬件资源的共享，为国际化的控制理论实验教学提供了一个模型参考。更多还原

【Abstract】 Experiment teaching is a very important aspect in the college education, but there are some problems in the traditional experiment teaching such as the inflexibility of courses’ arrangement and difficulty of maintaining experiment facilities. The appearance of virtual laboratory solves these problems in the traditional experiment teaching to some extent. However, it is software that simulates practical experiment instrument in the virtual experiment, which is difficult to reflect the spot experimental character and discrepant with experiment based on hardware.On the premise of exploring the development of remote experiment teaching, this paper gives a solution of transplanting original hardware experiment recourses onto network platform to improve the disadvantages of traditional experiment teaching. According to the solution, we design a remote experiment system based on the control of arm robot. The system takes arm robot as the experimental control object, and adopts the design module based on B/S so that students can control arm robot in the remote laboratory through the Internet, providing a network platform based on the hardware control used for the control theory teaching and research.Firstly, this paper gives a framework of the remote experiment system, and then presents the design and implementation of the background control subsystem in detail. The background control subsystem includes the arm robot system and background control server. Arm robot is a one-order experimental robot model and is of a typical two-order control system. The system uses PIC16C74A micro controller as the lower computer to implement the parallel communication with PC and signal sampling and control, which can satisfy the requirement of real time control. The background control server provides the remote experiment system with the background control server. On the one hand, the background control server implements the timing communication with high precision using the direct I/O functions and multimedia timer. On the other hand, the background control server implements the data transfer on the Internet based on TCP and winsock programming interface.The software is developed under the environment of Visual C++ and the code efficiency is high, the real-time character is quite good.The running results of the system are as follows: users can control arm robot on the Internet with different kinds of control algorithms and different control parameters and obtain the real-time dynamic experimental results, at the same time, users can pick up the experiment spot transmitted through network vidicon. This fully indicates the background control subsystem is capable and the remote experiment system can implement the sharing of hardware resources well. What’s more, remote experiment system also provides a model reference for the international experiment and teaching on the control theory.更多还原