【作者】 熊海国；

【导师】 尤波；

【作者基本信息】 哈尔滨理工大学 ， 机械电子工程， 2005， 硕士

【摘要】 随着人类探索领域的不断扩大和深入,人类在危险、难以到达的环境中作业的必要性不断增强,因此迫切需要设计出能够代替人类从事危险工作的智能机器人。近年来,Internet 网络技术获得飞速发展,传统的机器人控制技术与先进的网络通讯技术相融合,使基于Internet 的机器人遥操作技术得以产生并迅速发展。基于Internet 的机器人遥操作技术综合了机器人控制、网络通讯、图像压缩和实时传输、虚拟现实、人工智能、医疗、生物、航天等多个领域的知识,受到了国际机器人界广大学者的高度重视。目前,对基于Internet 的机器人遥操作技术的研究,主要集中于机器人轨迹规划算法研究、智能控制策略研究、网络数据通讯研究、解决随机时延问题的研究等方面。本课题针对当前基于Internet的机器人遥操作技术研究热点,以机器人技术与Internet网络技术为基础,构筑了一个以SCARA型四自由度教学机器人为被控单元、TCP/IP为传输/控制协议、Client/Server-Robot(客户机/服务器)体系结构为网络通讯平台的机器人遥操作系统。在该系统平台上,利用Windows Socket套接字实现Client服务器与Server-Robot服务器之间的数据通讯,通讯的两个进程之间实现了双向、可靠的数据传输;采用基于CP的机器人轨迹规划方法对SCARA机器人进行轨迹规划研究,开发了具有直线、圆弧、空间圆弧插补的机器人轨迹规划软件,运用基于CP的轨迹规划方法实现了机器人搬运、装配等具体作业任务;采用基于ICMP协议开发的网络延时测试软件,对不同距离、不同数据包大小、不同时间段的网络延时情况进行大量实验测试,对所得实验数据进行统计分析,并提出具有ICB系统的网络延时补偿策略。总之,本文意在以构筑的基于Internet 的机器人遥操作系统为背景,研究具有随机网络延时的机器人遥操作控制的关键技术,验证了所提出的控制方法的可行性,将对今后进一步研究具有重要的参考意义。更多还原

【Abstract】 With the enlargement and depth of the exploratory field of mankind, The necessity is getting strengthening constantly to carry out mankind’s tasks in dangerous, ungetatable environment, so it is necessary to design the intelligent robot which can replace mankind to engage in the dangerous work. In recent years, with the network technology development at full speed and combination of traditional robotic control technology and advanced network communication technology, the teleoperation technology of robot based on Internet emerges and develops rapidly. The teleoperation technology of robot based on Internet integrates with the knowledge in a lot of fields, such as the network communication, picture compressing and transmitting, virtual reality, artificial intelligence, medical treatment, living beings, spaceflight etc. The international scholars of robotic circle pay close attention to it. At present, people concentrate mainly on the study on teleoperation technology of robot based on internet, it includes path planning algorithm, intelligent control strategy, network data communication, random network delay-time, etc. In this paper, A telerobotic system was constructed based on the technology of robot and internet to the focus of study on teleoperation technology of robot based on internet, which uses a SCARA teaching robot with four degree of freedom as the controlled unit, TCP/IP as the transmission/control protocol, and the system structure of Client/Server as the network communication platform. On the system platform, the data communication between Client server and Server-Robot server has been realized with Windows Socket, two-way, reliable data transmission has been realized between two pieces of communication process; we have done research of path planning with SCARA robot on the basis of CP path planning, we have developed the robotic path planning software with line interpolation, arc interpolation, space arc interpolation, and we have carried on the concrete tasks of convey and assemble; we have done a lot of experiments on network delay from different distance, different size of data package, different time with the test software based on ICMP and carried on statistical analysis to the data, and proposed the compensatory strategy with ICB system. Briefly, the key technology of teleoperation with random network delay is studied based on the telerobotic system based on internet. The results of experiments can basically illustrate the methods proposed, which is an important reference to further research in the future.更多还原