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Alternative TitleThe realization of an Internet-based telerobot system of omni-directional mobile manipulator
Thesis Advisor易建强
Degree Grantor中国科学院研究生院
Place of Conferral中国科学院自动化研究所
Degree Discipline控制理论与控制工程
Keyword全方位移动机械手 遥操作 Internet 客户服务器 Omni-directional Mobile Manipulator Teleoperation Internet Client/server
Abstract当前,开发具有完全自主功能的智能移动机器人尚未成熟,但是通过Internet提供的方便开放的人机交互接口,在机器人的遥操作过程中融入操作者的智能与经验,使移动机器人具备在室内不确定环境下执行某个任务的能力,将是一个切实可行的技术方案。因而,将机器人控制、遥操作、网络通讯、图像压缩与传输、虚拟现实、人工智能等多个领域的技术相结合,开发基于Internet的机器人遥操作系统,已受到国际机器人界广大学者的高度重视。本文以机器人技术与Internet网络技术为基础,构建了一个以客户服务器体系结构为系统平台、全方位移动机械手为被控单元、TCP/IP及RTP协议的无线网络为前向/反馈通道、联入Internet的普通PC机为控制输入端的机器人遥操作系统。本文的主要工作包括以下三个方面: 首先,构建了遥操作系统的硬件平台。该硬件平台以一个全方位移动机械手为被控对象,以Internet网络为传输通道。综合了移动机器人与机械手的特点,扩大了机器人的工作空间,使机器人在本体不变向的情况下就可以朝各个方向移动,对机器人的控制更加灵活方便。 第二,设计了遥操作系统的软件平台。该软件平台采用客户服务器体系结构,使用UDP协议作为网络通讯协议传输数据信息,使用RTP协议传输实时视频图像信息,使用H.263方法进行视频图像的压缩解压,并构建了实验室的虚拟环境。 第三,根据该机器人遥操作系统的特点,设计了直接控制、监督控制及预测显示控制等不同控制模式,并进行了相应模式下的远程控制实验。 总之,本文实现一套基于Internet的全方位移动机械手遥操作系统,并使用该系统完成朝特定目标前进的实验任务。该系统综合Internet、全方位移动机械手的特点,作为一个实验平台,可以为基于Internet的机器人遥操作的各种理论研究提供帮助。
Other AbstractCurrently, autonomous mobile robot is still in its infancy. But it’s a valid scheme to make the robot excute some dangerous work in unknown environment through the convenient and open interface supplied by Internet, which merges the experience and intelligence of the operator. Therefore, it has attracted a lot of attention of scholars to develop an Internet-based telerobot system, which integrates technologies in many fields such as network communication, image compressing and transmitting, virtual reality, artificial intelligence. And based on the Internet and robot technology, the paper constructs an Internet-based telerobot system, which takes the client/server framework as platform, the omni-directional mobile manipulator as controlled unit, the wireless network (TCP/IP and RTP protocols) as forward/backward channels, common Internet PC as command inputing unit. The main work is as follows: 1. A hardware platform of the system is constructed, which takes the omni-directional mobile manipulator as the controlled unit and the Internet as the transferring channel. And it combines the characteristics of the mobile robot and manipulator, expands the working space. Due to these characteristics, the robot can move on all sides, so it is easier to control. 2. A software platform of the system is designed, which adopts the client/server framework. And it adopts UDP as the network communicating protocol, RTP as the real-time image transmitting protocol and H.263 as image compressing and decompressing method. What’s more, there is a virtual environment of the labrotary in the software system. 3. Direct-Control, Supervisory-Control and Predictive-Display-Control methods are designed to realize the user interface. And the corresponding experiments of these methods are taken. In all, the paper realizes an Internet-based telerobot system of omini-directional mobile manipulator, and carrys out some experiments with it. The system which integrates the characteristics of the Internet and omni-directional mobile manipulator, as an experiment platform, can provide help for the researches in this field.
Other Identifier200528014628013
Document Type学位论文
Recommended Citation
GB/T 7714
王大伟. 基于Internet的全方位移动机械手遥操作系统的实现[D]. 中国科学院自动化研究所. 中国科学院研究生院,2008.
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