Research And Implementation Of Real-time Verification Mechanism For Robotic Embedded Hardware Platform

Robot teaching and practice have taken an important part in school education and gained strong support from the government in recent years. Educational robots involve different knowledge of kinds of subjects which can improve the ability of students in all aspects.However, some districts use simulation software of robots to complete the tasks in practical education. Compared with the real robots, students can’t operate with their own hands that lead to the poor educational effect. On the other hand, hard robot learning and high-demanding of programming ability come up with the dull programming languages can’t stimulate students’ enthusiasm of learning. The C/S working mode works inflexibly and needs install complex software on host machine which wastes time and energy. So, a robot control based on network and feedback mechanism is really important.This thesis is based on the national 863 subject named Robot Modularization Technology and the major work had been finished based on the opening developing framework of “InnoSTAR” hardware platform. For the current situation that lack of the open educational robot development platform, this system can complete the work about developing robot application online, verification and testing. The verification mechanism means that users can control the robot by graphical programming and verify the operation of the program and the correction of business logic by watching motion video of the robot. So this paper completed the following work.Firstly, this thesis implemented a kind of online graphical development environment which reduces dependence on underlying platform and compiling environment and lets the mode of programming more simple and vivid. This part is the base about realization of the verification mechanism. We realized connection of icon and generation of control codes by using Jsplumb Technology, compiled codes in server and return the compiled results by Remote Procedure Call. Then, the executive codes will be downloaded to robotic platform and run.Secondly, we designed and implemented a subsystem of real-time verification base on graphical control. We divide verification mechanism into real-time one and near-real-time one. For real-time verification, users can watch live video of robotic platform and achieve the purpose of verification. We implemented H.264 coding and RTP protocol to ensure real-time about video stream. Near-real-time verification is a way used when the network is not really good and users can access to URL stored about video of the robot later by using Ajax Technology.