基于Internet的机器人遥操作系统研究

Research on Telerobotic System of Internet Based

为了实现人类在危险、难以到达的环境中作业,以机器人技术与Internet网络技术为 基础,开发出一种以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、Cli- ent/Server体系结构为网络控制平台的机器人遥操作系统,给出了该系统的硬件结构、软件流程.实 践表明,该系统不仅可以实现客户机与服务器之间的全双工连接,而且能可靠传输控制命令、控制 数据,控制KLD-400机器人完成抓取、搬运等具体作业任务.

In order to carry out mankind's tasks in dangerous, unaccessible environment, we develop a Telerobotic system based on the technology of robot and 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 control platform. The hardware structure and software procedure of this system is also provided. Experiments show that the system not only can realize complete double connection between the client and server, but also can transmit control instructions and control data reliably, controlling KLD-400 robot to carry out concrete tasks such as grasping, conveying, and so on.