| 摘要: |
| 首先采用MATLAB建立了弧焊机器人工作空间场景模型,基于Internet实现了机器人的远程运动仿真。在仿真的基础上,采用CORBA-CGI方式实现了弧焊机器人的Internet远程控制。仿真和控制试验结果表明,设计的机器人远程运动控制方案是可行的,它有效地克服了网络时延的问题。为基于Internet的机器人远程运动控制奠定了基础。 |
| 关键词: 弧焊机器人 Internet 仿真 CORBA CGI |
| DOI： |
| 分类号: |
| 基金项目:上海市科学技术委员会资助项目(021111116) |
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| Internet based remote motion simulation and real-time control of arc welding robot |
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CHEN Wen-jie, CHEN Shan-ben, LIN Tao
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School of Materials Science and Engineering, Shanghai Jiaotong University, Shanghai 200030, China
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| Abstract: |
| Workspace model of arc welding robot is established by MATrix LABoratory. Robot remote motion simulation is realized via Internet. Based on the simulation results, Internet based remote control of arc welding robot is realized by Common object request broker architecture-Common gateway interface mode. The results of simulation and control indicate that the scheme is feasible. It effectively overcomes the time-delay problem and provides a basis for Internet remote control of arc welding robot. |
| Key words: arc welding robot internet simulation common object request broker architecture common gateway interface |
