| ABB机器人应用协议的研究 |
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| 引用本文： | 曾春年,邓思豪.ABB机器人应用协议的研究[J].武汉理工大学学报(信息与管理工程版),2004,26(2):38-41. |
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| 作者姓名： | 曾春年 邓思豪 |
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| 作者单位： | 武汉理工大学,自动化学院,湖北,武汉,430070 |
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| 摘 要： | 介绍了ABB公司的机器人应用协议RAP,该协议提供了一个ABBS4系列机器人控制器的应用接口,利用协议中的服务可以和机器人通讯得到机器人的各项参数。详细阐述了基于远程过程调用RPC的RAP协议规范以及如何用XDR语言进行RAP协议的编写、编译。探讨了机器人通讯模块的设计方法,以及RAP协议的网络体系结构与服务。最后,对RAP的应用进行了展望,提出了机器人实时监控的构想。
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| 关 键 词： | 机器人通讯 机器人应用协议(RAP) 远程过程调用(RPC) 外部数据描述标准(XDR) |
| 文章编号： | 1007-144X(2004)02-0038-04 |
| 修稿时间： | 2003年9月11日 |
Research on the ABB Robot Application Protocol |
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| Zeng Chunnian,Deng SihaoZeng Chunnian:Prof., School of Automation,WUT,Wuhan ,China..Research on the ABB Robot Application Protocol[J].Journal of Wuhan University of Technology(Information & Management Engineering),2004,26(2):38-41. |
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| Authors: | Zeng Chunnian Deng SihaoZeng Chunnian:Prof School of Automation WUT Wuhan China |
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| Affiliation: | Zeng Chunnian,Deng SihaoZeng Chunnian:Prof., School of Automation,WUT,Wuhan 430070,China. |
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| Abstract: | The Robot Application Protocol (RAP) of ABB Robotics is presented, which provides the robot-controllers of ABB S4 series with an application interface. Using services in the protocol, communication with robot can be realized and robot parameters can be collected. The RAP protocol is described based on the RPC(Remote Procedure Call) protocol and the way of writing and compiling RAP protocol with XDR language. Furthermore, the method of developing robot communication module and the structure and services of a RAP network system are discussed. At last an expectation of a robot real-time monitor system is put forward. |
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| Keywords: | robot communication Robot Application Protocol (RAP) Remote Procedure Call (RPC) External Data Representation Standard (XDR) monitor |
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