【作者】 沈进棋；

【导师】 诸静；

【作者基本信息】 浙江大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 随着互联网的出现和网络技术的不断发展，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，并已成为机器人学的一个新的研究领域。 本文以我们自行设计、研制的移动机器人ZJMR为研究对象，在对ZJMR移动机器人本地控制系统设计实现的基础上，着重对远程控制系统中的共性问题如：网络时延问题、软件体系结构、人机交互技术、机器人控制功能和视频图像实时传输等方面作了深入地分析和研究，最后设计并开发了一个基于Web的机器人远程控制系统，并将分布式对象技术CORBA应用于机器人远程控制系统中，不仅实现了原系统不同开发语言之间的互操作功能，而且极大地提高了系统的跨平台性、互操作性和可扩展性。 本系统为用户提供了多种控制方式—直接控制和监督控制；多种视觉反馈方式—实时视频显示和图形仿真显示。在数据的传输中，根据数据类型的特点，采用多种传输协议—基于TCP Socket传输的控制命令、图形仿真数据和基于实时传输协议RTP传输的视频图像；分布式对象之间采用多种通信方式—单向发送调用、同步调用和基于事件服务的PUSH技术。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.This paper takes the mobile robot-ZJMR, designed and developed by ourselves, as our research object. On the basis of realization the local control system of ZJMR. the paper analyses and studies the general questions in the remote control system, such as the delay-time of network, software system structure, human-computer interaction technology, robot control function and real-time video transmission and so on. Then we design and develop a remote control system of ZJMR based on Web, and apply the distributed object technological-CORBA to this system. It not only realizes the original system’s mutual operation function, which is developed by different programming language, but also improves the platform independency, mutual operation function and expansibility greatly.The system offers the users two kinds of control modes-direct control and supervisory control; two kinds of vision feedback modes-real-time video display and emulational graphics display. In the data transfer, according to the characteristic of data type, we adopt multi-kinds of transfer protocol-the control command and emulational graphics data that is transferred on the basis of TCP Socket, and the video image transport based on Real-time Transport Protocol(RTP). And between the distributed objects, it adopts multi-kinds of communication way-one way transfer, synchronous call and PUSH technique based on incident serve of CORBA.更多还原