摘要
随着网络的飞速发展,基于网络的机器人远程控制日益受到了人们的重视;同时以往的基于各类单片机的移动机器人已经不能满足当前机器人发展的需要。有鉴于此,本文提出基于嵌入式系统和无线网络的移动机器人的远程任务重构和远程实时控制解决方案。系统以ARM9嵌入式LINUX系统作为移动机器人主控器,其对下位运动控制器的精确运动控制通过串口通信实现,与远程PC机之间的无线通信通过LINUX系统下的SOCKET网络通信建立的嵌入式服务器实现。实验证明,基于网络的嵌入式控制系统在机器人中的应用大大提高了机器人的处理能力和通信能力,增强了机器人的智能性。
With the rapid development of internet, the robot remote control based on internet has been got more and more attention. Simultaneously, the past mobile robot based on kinds of monolithic integrated circuit already could not satisfy with the current development. Therefore, this article proposes a remote duty restructuring and a remote real-time control solution of the robot based on the embedded system and wireless network. The system takes ARM9 embedded Linux as the master controller of the mobile robot. The communication between robot and the lower position movement controller realizes through serial port, and the wireless communication between remote PC and the robot realized by embedded server established through Socket in Linux. The experimentation proves that the application of embedded system and wireless network improves the ability of management and communication largely. The robot is more intelligent than ever.
出处
《微计算机信息》
北大核心
2008年第26期179-181,共3页
Control & Automation
基金
国家自然科学基金项目"传感器网络环境下移动机器人动态特征与可重构控制框架"(60475031)
湖北省青年杰出人才基金课题:自治体系统的分布式智能传感
控制与协作(2005ABB021)
