【作者】 宋光明； 宋爱国； 黄惟一； 葛运建；

【Author】 Song Guangming Song Aiguo Huang Weiyi Ge Yunjian Department of Instrument Science and Engineering, Southeast University, Nanjing, 210096, China 2 Institute of Intelligent Machines, Chinese Academy of Sciences, Hefei, 230031, China

【机构】 东南大学仪器科学与工程系； 中国科学院合肥智能机械研究所；

【摘要】 本文采用IEEE 1451的设计思想,介绍了一种具有标准网络接口的高集成度智能六维力传感器的设计方法。然后以此为基础,本文提出了一个基于Web的分布式测控应用开发框架,并成功应用于机器人的力感知系统。该框架充分利用了网络化传感器的优势,采用全Java平台,可以实现多维力传感器数据与状态信息的在线访问、监测与分析,可复用可移植,为进行机器人Web遥操作等高层应用提供了可靠技术保障。更多还原

【Abstract】 Stemming from the IEEE 1451 smart transducer interface standards, this paper presents a new implementation method for the smart six-axis force/moment sensor, which is a highly-integrated force measurement device with standardized network interface. Then a Web-based DMC application architecture is presented and successfully applied to the force-sensing system of robot. The architecture, which is integrated with the networked force/moment sensor, is capable of accessing, monitoring and analyzing the sensor info and data acquired through the Web. The architecture is built on an all-Java platform with highly reusability and portability. The whole system works well and will give big support to more challenging task such as Web Telerobotics.更多还原