基于WEB的人机交互系统构架设计与实现

Design and Achievement of Human-robot Interaction System Architecture Based on WEB

设计出一种基于WEB的机器人交互系统构架。基于此构架,用户可用电脑或移动设备的浏览器通过网络便捷地控制机器人,而不必安装任何复杂的软件。相比之前的WEB机器人控制系统,本系统构架使用通用机器人操作系统(ROS)、跨平台服务器JAVA Servlet以及与设备平台无关的HTML5标准,使用WebSocket保证实时性和可靠性,使用WebGL获得更好的可视化;并用此构架实现了6自由度机械臂交互控制系统。结果表明,该系统具有良好的交互性和便捷性。

This paper addresses a human-robot interaction architecture based on WEB.Using this architecture,users can conveniently manipulate robots just by using a web browser on either PC or mobile device through networks,without installing any other complex software.Compared with former generation WEB robot control system,this system architecture uses Robot Operating System（ROS）,compatible JAVA Servlet,HTML5.0standard,WebSocket for real time and reliablity,and WebGL for user-friendly visualization.And we implemented a 6-DOF robotic arm interactive control system using this architecture.The experimental results show that the system can provide intuitive and convenient user experience.