Manipulator Remote Synchronous Control Technology Based On Inertial Module And Network

Remote Synchronous control has many uses,we can control the robot to complete the work instead of human in complex environment and dangerous situation,in this way,human can be protected. In some scientific exploration missions,personnel are not suitable for on-site operation,we can also remote Synchronous control machine to do sampling and photography work.The United States of America for Mars exploration robot also has the function of remote control.The paper realize the acquisition of the real-time Attitude signal of wireless inertial module and remote synchronous control of the manipulator.This paper mainly solves three tasks, the first task is to realize the wireless inertial attitude measurement module, the software development kit programming, successful acquisition of real-time attitude signal, and can be a module at the same time acquisition. The second task is to realize the remote transmission attitude signal, transmission based on network, based on the model and protocol selection, and ultimately determine the use of client/server mode, the signal transmission based on TCP protocol programming. The third task is real-time control of the manipulator, considering the attitude control signal has been refreshed, feedback system have little effect, so the control system uses the open-loop control is simple, the manipulator servo controller receives a control command through the serial port, after the execution of an instruction after a short pause, then began to receive and execute the next instruction.In addition, this paper also real-time for the whole design was improved, the improvement strategy is from the three tasks were improved. Signal acquisition part mainly by setting the hardware and change the data refresh frequency, transmission part function to solve the congestion problem by invoking the TCP communication in the regulation, control manipulator part, using SYNC WRITE instruction mode instead of the single command are transmitted mode, in order to save time.Using a wireless inertial module in this paper, a manipulator and a two computer network connection,has successfully built a synchronization control system in a simple remote,although solved in real-time and attitude accuracy and many problems need,but through improved design further,should can solve these problems.In view of this direction is widely used,has great prospect,so the value of continuing research.