徐德, 赵晓光, 陈刚, 顾农. 基于网络的机器人跨平台远程实时控制[J]. 武汉大学学报 ( 信息科学版), 2003, 28(2): 248-252.
引用本文: 徐德, 赵晓光, 陈刚, 顾农. 基于网络的机器人跨平台远程实时控制[J]. 武汉大学学报 ( 信息科学版), 2003, 28(2): 248-252.
XU De, ZHAO Xiaoguang, CHEN Gang, GU Nong. Cross-Platform Remote Real-Time Control System Based on Network for Open Robot Manipulator[J]. Geomatics and Information Science of Wuhan University, 2003, 28(2): 248-252.
Citation: XU De, ZHAO Xiaoguang, CHEN Gang, GU Nong. Cross-Platform Remote Real-Time Control System Based on Network for Open Robot Manipulator[J]. Geomatics and Information Science of Wuhan University, 2003, 28(2): 248-252.

基于网络的机器人跨平台远程实时控制

Cross-Platform Remote Real-Time Control System Based on Network for Open Robot Manipulator

  • 摘要: 提出了一种基于网络的多层次结构的跨平台远程实时控制框架,它由智能与人机交互层、运动规划层、运动控制层和伺服控制层构成,并基于该框架完成了一套单机器人远程实时控制系统,进行了远程视觉控制试验。试验表明,该控制系统运行稳定,实时性强。

     

    Abstract: On the basis of local network with multi-level hierarchy,this paper presents a cross-platform remote real-time control system frame,which consists of intelligence and human-machine interface level,motion planning level,motion control level and servo control level.The last three levels form local real-time open robot controller.The first level can connect many local controllers through local network.Human-machine interface works in Windows for convenience and the local controller runs in Linux for good ability in real time.Based on the frame,a cross-platform remote real-time control system for single robot is realized.Remote vision control experiment is done and the results show that this system works stably in real time.

     

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