基于DCOM-MMS的可重配置机器人控制

Reconfigurable robot control based on DCOM-MMS

为实现可重构机器人柔性装配单元中多机器人之间的互操作及重配置性能,将制造报文规范作为多机器人控制间传递的报文规范,在描述制造报文规范和分布式组件对象模型与公共对象请求代理体系结构等分布式对象技术的基础上,构建了基于分布式组件对象模型遵循制造报文规范机器人控制的通讯模型,建立了分布式机器人控制的软件和硬件体系结构,并利用面向对象的方法进行了机器人控制的设计。为了验证系统的设计方法的有效性,进行了原型系统的开发和测试。

In order to implement the reconfigure ability and interoperability among multi-robots in Robot Flexible Assemble Cell （RFAC）, Manufacturing Message Specification （MMS） was selected as the message specification communicated among the robots in RFAC. Firstly, MMS and distributed object technique was described. Secondly, an MMS followed communication model based on DCOM was set up, and a distributed robot control system including its software and hardware structure was developed. At last, the robot control system was designed using the object-oriented technique, and then a prototype was developed to testify the validity of the design method for the system.