摘要
提出了一种基于网络的多层次结构的跨平台远程实时控制框架 ,它由智能与人机交互层、运动规划层、运动控制层和伺服控制层构成 ,并基于该框架完成了一套单机器人远程实时控制系统 ,进行了远程视觉控制试验。试验表明 ,该控制系统运行稳定 。
On the basis of local network with multi_level hierarchy,this paper presents a cross_platform remote real_time control system frame,which consists of intelligence and human_machine interface level,motion planning level,motion control level and servo control level.The last three levels form local real_time open robot controller.The first level can connect many local controllers through local network.Human_machine interface works in Windows for convenience and the local controller runs in Linux for good ability in real time.Based on the frame,a cross_platform remote real_time control system for single robot is realized.Remote vision control experiment is done and the results show that this system works stably in real time.
出处
《武汉大学学报（信息科学版）》
EI
CSCD
北大核心
2003年第2期248-252,共5页
Geomatics and Information Science of Wuhan University
基金
中国科学院自动化研究所创新基金资助 ( 2F0 2J0 2 )
关键词
网络
机器人
远程实时控制
视觉控制
在线运动规划
robot
remote real_time control
vision control
cross_platform
motion planning online
