机器人网络遥操作仿真系统设计  

THE DESIGN OF ROBOTIC TELEOPERATION SIMULATION SYSTEM BASED ON NETWORK

作　　者：王仲民[1] 姚合环[1] 戚厚军[1] 张建民[1] 

机构地区：[1]天津职业技术师范学院机械工程系,天津300222

出　　处：《天津科技大学学报》2004年第3期27-30,共4页Journal of Tianjin University of Science & Technology

基　　金：天津市教委科技发展基金项目(01 20301);教育部科学技术研究重点项目(02012)

摘　　要：建立了机器人的运动学模型,然后基于Delphi开发平台,应用OpenGL强大的图形功能,建立了主、从式机器人三维仿真模型:并在此基础上根据系统体系结构设计思想对机器人遥操作仿真系统进行设计,开发出一套基于网络的机器人遥操作仿真系统。并且对Delphi中网络控件TClientSocket和TServerSocket进行编程,实现了机器人控制命令和反馈数据在局域网上的实时双向传输,从而完成了主从式机器人的网络遥操作。仿真实验结果表明,该仿真系统是准确可行的。At first this paper constructs the robot's kinematic modeling and then uses OpenGL to build a set of master-slave robot's three dimensional model in Delphi environment. With the idea of systematic architecture designing, this simulation system is designed. And then a set of simulation system based on network is also designed. With the TClientSocket and TServerSocket controls which are specially used for network in the language of Delphi, it realizes real time bilateral communication between controlling orders and feedback data. So at the same time the master-slave robot teleoperation based on LAN is realized also.The simulation experiments show that the simulation system is accurate and available.

关 键 词：主从式机器人 遥操作 运动学模型 仿真 网络 OPENGL 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]