【作者】 李萍；

【导师】 阎保定；

【作者基本信息】 河南科技大学 ， 控制理论与控制工程， 2006， 硕士

【摘要】 随着互联网技术的不断成熟发展,基于网络的机器人远程控制技术成为网络技术和机器人技术的一个新的结合点,越来越受到人们的重视和关注,并已成为机器人学的一个新的研究领域。基于Internet网络技术的机器人遥操作平台的实现,扩大了操作的远程化距离,实现了任意节点的访问机制,适应远程管理的技术方向,有利于机器人技术的推广与普及。对远程机器人实现遥操作是目前机器人控制研究领域的前沿课题,它对于危险环境下的远程作业、远程医疗、远程教育及远程制造等技术具有深刻的现实意义。本文以我们自行设计、研制的由GRBA4PAH多关节工业机器人、USB接口微型摄像头、目标物体运动模拟平台及PentiumⅣ计算机组成的开放式智能工业机器人视觉伺服控制实验系统为研究对象,通过Internet网络实现对远程机器人视觉伺服系统的控制。系统采用Client/Server(客户/服务器)模型,由单服务器结构建立了一个遥操作机器人控制系统,实现了基于Internet的机器人的遥操作,系统构建在一个通过Internet能自由访问的机器人控制站点上,客户登陆后自动下载客户端控制软件,客户端与服务器端连接后,一方面,客户端发送控制命令给服务器端的机器人,由服务器端机器人视觉伺服系统对控制命令加以解释、执行,从而控制机器人完成相应的动作;另一方面,由远端的摄像头把现场的图像加以采集、压缩,并实时传输到客户端。实验结果显示该系统能很好地完成网络机器人遥操作和视频监控任务。更多还原

【Abstract】 With the development of Internet and network Technology, remote control technology of robot based on network has become a new joint of network technology and robotics. And now it has already become a new research field of robotics. The platform can be remotely operated by the robot based on the internet technique. It extends the distance of remote operation, implements the accessing mechanism of arbitrary nodes, adapts to the direction of remote management, and promotes the extension and popularity of the robot technique. The remote operation of robot is a key problem in robot control research recently, and it is a significant to the tele-work in the dangerous condition, tele-work tele-medicine tele-teaching and tele-manufactureThis paper studys on the open and intelligence industrial robotic visual servo control system which was designed and developed by ourselves which is composed of one type GRB-400 SCARA robot, one USB micro-camera, one motion flat, and one Pentium 4 class PC, implements the Internet-based telerobotic control syetem on the base of this industrial visual servo robot control system. This system adopts Client/Server modularity. A tele-operation system is founded by solo server structure, realizes the Internet-based telerobotic control. This system was designed on a telerobotic website which can be loged in via Internet at will. Client downloads the client control software automatically after register. After connection,on one side, client sends control command to the robot on server side,those commands should be interpreted and implemented by visual servo control system on server更多还原