基于C/S模型机器人控制器的研究及其应用

随着网络通信技术的发展和控制系统的革新，如何将网络技术应用到机器人系统，使机器人 达到开放式、分布式的网络控制系统，是目前机器人控制器研究的热点．本文提出了基于C/ S（Client/Server）模型的机器人控制器实现原理，阐述基于Win NT操作系统的RPC（Remot e Process Call）机制的机器人控制网络客户服务器程序的开发，并实现了软件的DCOM封装 ．最后，以实例说明了利用DCOM技术开发的Win NT操作系统下的Win32机器人柔性自动化应 用程序和基于Web的远程机器人监控系统，显示了基于C/S模型的机器人控制器分布式控制网 络的优点．

RESEARCH AND APPLICATION ON ROBOT CONTROLLER BASED ON CLIENT/SERVER MODEL

With the development of network communication technique and innovation of control system, it is hotspot to realize robot opened and distributed controlling network system that is based on the technique of network. This paper brought out the theory of robot controller based on C/S network model, the development of Client server programs of robot control system based on RPC method under Windows NT operation system is focused, further more, DCOM encapsulation of software is realized. In the end, Experiments are illustrated to prove the robot flexible system Win 32 execution program based on DCOM under Windows NT and long distance robot supervising system is based on Web programming, which shows the excellency of distributed controlling network system of robot controller based on C/S model.