Study Of The Web-Based Integration Of Heterogeneous Robotic Manipulators

In 1954, George Devol, an American people, designed the first programmable robot. Later the first robotic manipulator patent was published by US Patent and Trademark Office. Since then, the technology of robot has been developed quickly. Now the web-based tele-operation and coordination of robotic manipulators become the research hot in this area. The study of Web-based integration of heterogeneous robotic manipulators will absolutely push forward the development of the technology of robots. This technology is important for Web-based manufacture, which characterizes digitalization, flexibility, and agility. My thesis focused on the integration and application of Heterogeneous robotic manipulators. The content of this thesis includes:The first chapter of the thesis reviews the development of the tele-operation of robotic manipulator. According to the reviews and analysis of current researches, I raise a concept that the obstruction of integration of heterogeneous robotic manipulators is the close-architecture of the system. A solution to solve this problem is to use an open-architecture controller. The critical issue to achieve this solution is to develop an open-architecture software environment.In the second chapter of the thesis, it compares the CPL (Common Programming Language) and RPL (Robot Programming Language). It also analyses the Basic requirements of real-time operation of an open-architecture software environment and current used real-time operation. After this, Ch Language environment is introduced. As a superset of C interpreter, Ch characterizes all basic abilities of engineering open-architecture language environment. It is an excellent engineering language environment. But until now real-time operation is still not available in Ch. I expended the Ch real-time function in this chapter. I also modified and evaluated both the Priority Ceiling Protocol (PCP) and the Ceiling Semaphore Protocol (CSP) within Ch environment under RT-Linux support. The evaluations show that both methods can satisfy the requirements of real-time tasks, but that the CSP method is generally more efficient and scales better. I also developed and coded the RL-Linux supported device driver in Ch environment. So the general open-architecture controllers can be integrated within Ch environment under RT-Linux support.The third chapter of the thesis mentions the technology of Web-based data acquisition. I discussed the general method of building Dynamic Linked Library (DLL) in Ch environment in this chapter. After the device driver & application software package have been packed and built to a DLL in Ch, I implemented a Web-based data acquisition using AT-MIO-16E-10 DAQ board from NI Inc. This method has been used in a test bed of belt transmission. The experimental result shows that the technology of web-based data acquisition is available and the result is trustiness.The fourth chapter of the thesis discusses the tele-operation of multi-axes motion controller.As a case study, I discussed PMAC from Delta Tau and Googol form Googol Inc, developed DDL for multi-axes motion controller, and implemented tele-operation of the controller. The characteristics of the system response of multi-axes motion controller under tele-operation are studied in this chapter. The experimental results show that the PID + feed forward control satisfies the requirement of motion of joint of robotic manipulator. In this chapter, I have retrofitted original controller of PUMA with open-architecture controller PMAC, implemented the web-based tele-operation of PUMA robotic manipulator. The inverse kinematics equations of PUMA robot were also derived and coded in this chapter.The fifth chapter of the thesis focuses on the pneumatic robot tele-operation. I have studied details of pneumatic servo position controller SPC-200. Using JNI method, the graphics tablet input device Unispen from Tsinghua Unisplendour Group had been embedded to Java Applet. So web user can draw picture or calligraphy in Java applet through net. I developed the DDL for SPC driving under Ch env...