网络机器人实时监控系统的仿真研究

Simulation of Real Time Monitoring System for Internet-Based Robot

在基于网络的机器人远程控制系统研究中,大量视频图像数据在网络的传输导致的延时很难保证控制者能够实时监控机器人的状态。该文从仿真的角度提出了一种有效的方案,通过减少传输数据的方式减小延时。文章对机器人的几何建模和运动建模进行了研究,然后在VC++6.0语言平台下,借助CAD软件SolidW orks,运用OpenGL完成了机器人的建模和三维显示;仿真系统通过网络实时的获取机器人的位置和姿态参数,动态地以三维模拟的方式显示,使得远程用户可以实时地监控机器人的运动状态,以采取适当的控制措施。

In the research of the telecontrol system for Intemet - based robot, the delay caused by a large a mount of video data transmitted in the Internet make it difficult for the controller to monitor the real time state of the robot. The paper brings forward an affective method to reduce the delay by way of simulation. Robot geometry modeling and kinematics modeling are studied, and on the VC ＋ ＋ 6.0 language platform, with the help of the CAD software Solid-Works, the modeling and 3D simulation of the robot noumenon are finished. The simulation system can get the position and orientation parameters of the robot on time via network and display them in dynamic 3D simulation mode, and this enables the remote controller to monitor the robot in real time and take proper action.