Expanding Research Of Robot-Arm Remote Control System Based On Internet

With rapid development of Internet, the integration of Internet technology and robot technology becomes an important research direction, so robot remote control based on Internet has been put forward. The Internet-based robot remote control technology can be classified in several methods, and is divided into Internet-PC-based and Internet-DSP-based two kinds of robots remote control systems according to different servo control technologies. With a two-freedom-degree robot arm as the controlled object, the expanding research on the two kinds of robot systems is done, and the main contents can be summarized as follows:The thesis is divided into five chapters. The first chapter is the introduction, mainly introduces the concept of Internet-based remote control system and its development process, classification and technical issues. Meanwhile, the research foundation and the research content of this thesis are introduced.Chapter two develops the Internet-PC-based robot arm remote control platform. In order to model the robot arm system so as to design different motion controller in different application conditions, it is necessary to develop of robot arm remote control platform which don't have DSP motion control panel. This chapter mainly expounds the hardware and software structure of the system, focusing on the comparative analysis between its software implementation and the Internet-DSP-based robot arm of remote control platform's software implementation (Wei ZiXiang developed). At last, actual drawing experiment is carried out and the experimental results are analyzed.Chapter three realizes the continuous path control trajectory in the Internet-PC-based robot arm remote control system. Under the point-to-point control mode, the robot arm always stop-and-go, the time performance of the system was reduced and mechanical wear was increased. In order to resolve the problem, Trapezoidal trajectory planning is applied to the path after finding that continuous path trajectory planning is lacked in Internet-PC robot arm remote control system analyzed from aspects of class structure, which can control the robot arm accelerates only at the beginning point, decelerate only at the final point, and keep constant speed all over the intermediate point.Chapter four realizes the continuous path control in Internet-DSP-based robot arm remote control system. Take the network-delay into consideration, all the parameters (circle interpolation and linear interpolation) which are need to set when realizing the continuous path control function using DSP are calculated. At last, the actual drawing experiment is carried and the results are analyzed.Chapter 5 summarizes the research achievement of this thesis and points out the content and direction of further research.