5G环境下的机器人远程控制系统开发

Development of robot remote control system in 5G environment

为了实现机器人在5G网络环境下的实时远程控制,设计开发了一套基于5G网络的机器人远程控制系统。在该系统中,机器人的控制被分为三级结构,用户交互层、边缘控制器层和现场控制器层。在用户交互层中,操作人员通过网页远程下达机器人的控制命令;在边缘控制器层中,进行机器人的正/逆运动求解、轨迹规划、接受操作人员的控制命令和二次控制命令的下发操作;在现场控制器层中,现场控制器接受边缘控制器的二次控制命令,控制机器人的运动。三级架构兼顾网络控制的灵活性和现场控制的实时性,并降低了对现场控制器CPU性能的要求。最后,以六自由度机器人为对象进行实验验证。实验结果表明,该控制系统能满足5G网络环境下的实时远程控制的要求。

In order to realize real-time remote control of the robot in 5G environment,a robot remote control system based on 5G network is designed and developed.In this system,the control of the robot is divided into three layers:the user interaction layer,the edge controller layer and the field controller layer.In the user interaction layer,the operator remotely sends control commands to the robot through the webpage.In the edge controller layer,the forward/reverse motion solution of the robot,the trajectory planning,the acceptance of the control commands and the issuance of secondary control commands are performed.In the field controller layer,the field controller accepts the secondary control commands from the edge controller,and controls the movement of the robot.The three-layer structure has the advantages of the flexibility of network control and the real-time performance of on-site control,and reduces the requirements for the CPU performance of the field controller.Finally,experimental verification is carried out with a six-degree-of-freedom robot.The experimental results show that the robot control system can meet the requirements of real-time remote control in 5G environment.