摘要
提出了一种基于Server Push技术(服务器推技术)实现的机器人远程控制方法,并利用该方法建立了一种新型的开放的基于Internet的机器人远程控制系统模型.该模型实现了实时的远程数据采集及高速的控制信号响应,更适合进行在线实时机器人远程控制.基于该系统,完成了以六自由度关节机器人为对象的远程控制试验,试验表明该模型系统在信号采集的实时性、控制指令响应时间等系统参数均优于传统系统.
A new control architecture for Internet based tele-robot system was pro-posed. With the introduction of Server Push technique, real time on-line data acquisition and fast control signal response, which enable this new architecture suitable for online real time tele-operation, can be achieved by using hyper-text transfer protocol. A 6DOF PUMA robot tele-operation system has been developed using this architecture and the experimental results illustrate that the performance of the tele-manipulation system had been greatly improved compared with that of the traditional control system using CGI and HTTP Server. The architecture is also open-structured and can be applied in other general purposed tele-operation systems.
出处
《自动化学报》
EI
CSCD
北大核心
2004年第4期597-600,共4页
Acta Automatica Sinica
基金
国家自然科学基金(50305035)资助~~
