基于Internet的远程控制机器人研究

Research on internet-based telerobot

本文给出了基于Internet的远程控制机器人的系统设计及实现方法。该系统通过设计一个“设备控制网络平台”,为设备提供了网络接口,而且支持设备的扩展和添加。采用四自由度机器人和摄象机作为设备连接在所设计通信平台上,在视频传输上使用XviD编码器,对序列图象进行编码传输。最终实现了人在回路中的远程控制机器人系统。网络试验验证该系统具有良好视频传输和远程控制性能。

This paper presents a framework for telerobot system structure and implementation based on internet. The ″Network platform of Devices control″ we designed specially makes the data communication between the devices and internet become reality and the addition and extension of device in this platform will be easy. The 4-DOF robot and the camera as the devices are connected to the platform. Images from the camera are encoded using XviD. Finally, the telerobot system with man-in-loop is implemented. The real-time experiments show good performance for image transmission and teleoperation.