基于网络的机器人视觉伺服控制研究-控制理论与控制工程专业论文.docxVIP

THE THE SEARCH 0N INTERNET—BASED TELEROBOTIC VISUAL SERV0 CONTROL SYSTEM AB STRACT With the development of Internet and network Technology，remote control techn0109y of robot based on network has become a new joint of network technology and robotics．And now it has al ready become a new re search field of robotic s．The platfo rm can be remotely operated by the robot based on the internet technique．It extends the di stance of remote operation，implements the acces sing mechani sm of arbitrary nodes，adapts to the direction of remote management，and promote s the extension and popularity Of the robot technique．The remote operation of robot i S a key problenl in robot control research recently，and it is a significant to the tele—work in the dange rous condition，tele—work tele- medicine tele-teaching and tele—manufacture Thi s paper studys on the open and intelligence industrial robotic vi sual servo control system which wa s designed and developed by ourselves which i S composed of one type GRB一400 SCARA robot，one USB miC ro-camera，one motion flat，and one Pentitim 4 class PC， implements the Inte rnet—based telerobotic control syetem on the base of thiS industrial ViSUal servo robot cont r01 System．ThiS system adopt S Client／Serve r modularity．A tele—operation system i s founded by solo serve r structure，realizes the Internet．based telerobotic contr01．Thi s system was designed on a tele robotic web site which can be loged in via Internet at Will． Client downloads the client C0ntr01 S0ftware automatically afte r regi ster．Afte r connection，on one side，client send S COntrol COmmand to the robot 0n server Side．tho Se command S shoUld be TT 摘要inte 摘要 inte rpreted and implemented by visual servo control system on serve r side and control the robot to fulfill according actions；on the other side， image compression technology must be combined with real time transmi ssions tO provide an efficient supervi soring method tO let the client Side be aware of the Current Sitnation of th