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串行通信在工业机器人控制中的应用 总被引:3,自引:2,他引:3
主要讨论在IBM 7575/7576制造控制系统中主计算机与工业机器人控制器之间的串行通信以及串行通信协议的建立,并介绍了用Visual Basic语言实现主计算机与工业机器人控制器之间通信的主要程序。 相似文献
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工业机器人的计算机控制 总被引:5,自引:0,他引:5
主要讨论了现代制造系统中工业机器人的计算机控制,并以IBM7575/7576制造控制系统为研究对象,介绍了主计算机与工业机器人控制之间的串行通信,以及串行通信协议的建立。最后还叙述了用Visual Basic语言凡计算机与工业机器人控制器之间的主要通信程序。 相似文献
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考虑机器人间的通信受限约束,将机器人抽象为微粒,提出基于微粒群优化的多机器人气味寻源方法.首先,采用结合斥力函数的策略,引导机器人快速搜索烟羽;然后,基于无线信号对数距离损耗模型,估计机器人间的通讯范围,据此形成微粒群的动态拓扑结构,并确定微粒的全局极值;最后,将传感器的采样/恢复时间融入微粒更新公式,以跟踪烟羽.将所提出方法应用于3个不同场景的气味寻源,实验结果验证了该方法的有效性. 相似文献
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履带装卸机器人遥控器系统的主要任务是对机器人进行远程控制和工作状况监视.无线遥控系统由用户手持操作终端和车载终端两部分组成.遥控终端的主控芯片均采用STM32F103微处理器,遥控系统软件基于FreeRTOS操作系统,使用433MHz频段进行通信,选用E62-433T20D系列无线透传模块.基于跳频扩频通信技术,通过制... 相似文献
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本文主要针对多台MCS-51单片机与上位计算机的数据传送问题,提出一种用Visual Basic语言实现的上位机与多台MCS-51单片机主从式通信方法,并给出硬件电路图和通信协议。 相似文献
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熊举峰 《计算机工程与应用》2008,44(31):39-42
介绍了群机器人学的含义、特点和发展现状,分析了研究群机器人系统的相关理论和方法,总结了群机器人学研究的主要内容,并指出其发展趋势。 相似文献
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集散控制系统的关键问题是通讯,作为其“神经网络”的通讯网络,是其重要支柱。与集散控制系统的三级结构相适应,通讯网络也具有多级结构,这就决定了它的复杂性。因此必须分清网络拓扑与网络通讯协议的种类与适用范围,慎重选择。详细分析了网络堵塞与死机现象的原因,采用了逆向工作站、加大例外报告区域以及选用匹配的操作站与监控软件等解决方案,经实际应用,网络堵塞与死机已基本得到控制。 相似文献
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本文对一种短距离无线通信网络的拓扑结构和通信协议进行了研究,并提出了一种嵌入式系统无线通信网络的实现方案;对协议进行了分析,并对实现的关键进行了说明。 相似文献
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Ligang Hou Fangwen Fan Jingyan Fu Jinhui Wang 《IEEE/CAA Journal of Automatica Sinica》2018,5(1):217-222
Ever since the concept of swarm intelligence was brought out, a variety of control algorithms for swarm robotics has been put forward, and many of these algorithms are stable enough and efficient. Most of the researches only take an invariable controller which functions through the whole stage into consideration, the situation in which controller changes over time is rarely taken into account. However, there are limitations for invariable controller dominated algorithms in practical situation, which makes them unable to meet changing environment. On the contrary, variable controller is more flexible and can be able to adapt to complex environment. Considering such advantages, a time-varying algorithm for swarm robotics is presented in this paper. The algorithm takes time as one of the independent variables so that the controller is no longer fixed through the time, but can be changed over time, which brings more choices for the swarm robot system. In this paper, some relevant simulations are designed to test the algorithm. Different control strategies are applied on the same flock during the time, and a more complex, flexible and practical control effect is acquired successfully. 相似文献
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一种用于志愿者计算的层次消息通信网络 总被引:1,自引:0,他引:1
构造一个用于志愿者计算的消息通信网络,该网络把志愿者计算平台P2HP中的所有节点按角色划分为监控服务器节点,调度服务器节点,计算节点和数据服务器,形成一个可扩展的层次网络拓扑结构.充分考虑到节点的负载和任务的划分与子任务调度的特点,管理着节点的加入和退出;定义全局统一消息通信协议来完成节点的通信和监控.测试结果表明,作为P2HP的支撑网络,它具有扩展性好、高效性、应用无关性等特点,能够适合多种应用的需求. 相似文献
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Cooperative Mobile Robotics: Antecedents and Directions 总被引:44,自引:3,他引:41
There has been increased research interest in systems composed of multiple autonomous mobile robots exhibiting cooperative behavior. Groups of mobile robots are constructed, with an aim to studying such issues as group architecture, resource conflict, origin of cooperation, learning, and geometric problems. As yet, few applications of cooperative robotics have been reported, and supporting theory is still in its formative stages. In this paper, we give a critical survey of existing works and discuss open problems in this field, emphasizing the various theoretical issues that arise in the study of cooperative robotics. We describe the intellectual heritages that have guided early research, as well as possible additions to the set of existing motivations. 相似文献
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Megan Emmons Anthony A. Maciejewski Charles Anderson Edwin K. P. Chong 《IEEE/CAA Journal of Automatica Sinica》2020,7(3):674-682
Robots in a swarm are programmed with individual behaviors but then interactions with the environment and other robots produce more complex, emergent swarm behaviors. One discriminating feature of the emergent behavior is the local distribution of robots in any given region. In this work, we show how local observations of the robot distribution can be correlated to the environment being explored and hence the location of openings or obstructions can be inferred. The correlation is achieved here with a simple, single-layer neural network that generates physically intuitive weights and provides a degree of robustness by allowing for variation in the environment and number of robots in the swarm. The robots are simulated assuming random motion with no communication, a minimalist model in robot sophistication, to explore the viability of cooperative sensing. We culminate our work with a demonstration of how the local distribution of robots in an unknown, office-like environment can be used to locate unobstructed exits. 相似文献
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