The Research And Implementation On Robot Control System Based On Network

With the development of Internet and network Technology, remote control technology of robot based on network has become a new joint of network technology and robotics. And now it has already become a new research field of robotics.This paper takes the mobile robot-ZJMR, designed and developed by ourselves, as our research object. On the basis of realization the local control system of ZJMR. the paper analyses and studies the general questions in the remote control system, such as the delay-time of network, software system structure, human-computer interaction technology, robot control function and real-time video transmission and so on. Then we design and develop a remote control system of ZJMR based on Web, and apply the distributed object technological-CORBA to this system. It not only realizes the original system's mutual operation function, which is developed by different programming language, but also improves the platform independency, mutual operation function and expansibility greatly.The system offers the users two kinds of control modes-direct control and supervisory control; two kinds of vision feedback modes-real-time video display and emulational graphics display. In the data transfer, according to the characteristic of data type, we adopt multi-kinds of transfer protocol-the control command and emulational graphics data that is transferred on the basis of TCP Socket, and the video image transport based on Real-time Transport Protocol(RTP). And between the distributed objects, it adopts multi-kinds of communication way-one way transfer, synchronous call and PUSH technique based on incident serve of CORBA.