基于Internet的机器人远程控制研究-检测技术与自动化装置专业论文.docxVIP

Research Research on Internet．Based Remote Control Robot Abstract Remote control robot system based OU Internet iS a combination of traditional robot control technology and advanced network communication technology．It has been applied to many fields such as remote work under jeopardous environment， telemedicine，long·distance education，remote supervising and remote manufacture， which leads to wider range of usage in the future．Therefore，research on Internet—based remote control robot system is growing up to ofie of the hottest SUbjects on the robot application field． In this article，we mention a general plan of primary remote control robot system．Its hardware consists of remote computer，Internet，host computer in the robot laboratory．MOTOMAN UP6 robot and GPT two-dimensional swivel table，and the software consists of UP6 robot control software．remote control software and vision—tracking subsystem software． The system allows remote operator to use remote control software platform in his／her own computer．By Internet on host computer in the lab，one can control robot and meanwhile track robot motion through the swivel table，and feedback videos in real time via visual instrument fixed on the swivel table，accomplishing the purpose of remote controlling and supervising robot motion and worksite． Among these SOftwares，UP6 robot control software iS used when remote operator sends command to UP6 robot and takes control of its motion． According to Winsock communication theory，remote control software bases on C／S model from VB6．0 and P2P model from VC++．NET2003．User can select either of them in practical situation，and remote control UP6 robot by host computer in the lab． Vision-tracking subsystem is programmed on function from GPT database transferred by Delphi7．0．The goal is to control the swivel table to track UP6 robot motion． By experimenting，debugging and revising programs，we have finished online test of the primary remote control robot system and got anticipative effect．It