MT-R机器人网络控制系统的设计与仿真  

Design and Emulation on Network Control System of MT - R Robot

作　　者：张宏彬[1] 严法高[1] 张亮[1] 

机构地区：[1]扬州工业职业技术学院,江苏扬州225127

出　　处：《计算机仿真》2010年第11期176-179,共4页Computer Simulation

基　　金：江苏省大学生创新实践训练计划基金项目<职能机器人的设计与制作>(20082207)

摘　　要：研究网络控制机器人的有效实时控制问题。针对目前控制信息因网络延时而引起数据丢失,降低实时控制效果,通过模仿TCP协议动态调整超时间隔算法的思想,对网络动态延时进行预测,为了提高系统的稳定实时控制,提出了基于因特网远程控制的预测步数可变的改进广义预测控制算法。采用WinSock、队列、缓冲和多线程等技术,基于VC++软件设计了远程控制仿真系统,利用因特网的机器人远程控制系统环境进行仿真。结果表明可为机器人远程控制的研究建立了实验条件,并对同类项目的研究具有一定的参考价值。This paper researches on the effective real-time controlling method for the network-controlled robot.At present,it is common that the controlling information is lost due to the network delay,and the real-time controlling effect is compromised.In order to solve this problem,an improved generalized predictive control algorithm based on the internet remote-controlling is proposed,of which the predictive steps are variable.This algorithm predicts the dynamic network delays by emulating the idea which TCP adopts to dynamically adjust the retransmission timeout value.Since proving the feasibility of the new algorithm in the real internet environment is interfered by various factors,a remote-controlling emulation system is developed using VC ＋ ＋ and the technologies such as Winsock,queue,buffer and multithreads.This system emulates the environment of the internet-based robot remote-controlling system in the LAN,and satisfies the experiment requirement for the developing and researching on the remote-controlling of the robot.The research of this paper makes contribution to the same category research project.

关 键 词：机器人 网络控制 控制算法 仿真 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]