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基于Server Push技术的机器人远程控制方法研究
引用本文:李晓明,杨灿军,陈鹰.基于Server Push技术的机器人远程控制方法研究[J].自动化学报,2004,30(4):597-600.
作者姓名:李晓明  杨灿军  陈鹰
作者单位:1.浙江大学流体传动及控制国家重点实验室,杭州
基金项目:国家自然科学基金(50305035)资助~~
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.

关 键 词:Server  Push    机器人遥操作    控制体系结构
收稿时间:2002-9-29
修稿时间:2002年9月29日

A New Control Architecture for Internet Based Tele-Robot System Using Server Push Technique
LI Xiao-Ming,YANG Can-Jun,CHEN Ying.A New Control Architecture for Internet Based Tele-Robot System Using Server Push Technique[J].Acta Automatica Sinica,2004,30(4):597-600.
Authors:LI Xiao-Ming  YANG Can-Jun  CHEN Ying
Affiliation:1.State Key Laboratory of Fluid Power Transmission and Control,Zhejiang University,Hangzhou
Abstract: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.
Keywords:Server Push  Internet based tele-robot  control architecture
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