基于网络的机械臂远程控制平台设计与时延补偿

随着网络传输中不确定时延研究的深入,使基于网络的远程控制系统的应用成为可能.采用Winsock API,在Windows系统中设计并实现了具有绘图功能的二自由度机械臂系统基于网络的远程控制平台,通过在单条指令循环环境下考虑网络时延对系统同步的影响,设计了相应的同步补偿算法并验证了其有效性.提出等效时延的概念和时延分离补偿思想,以及对不同情况下机械臂系统性能的改进方案.该平台的设计思路对于其他机器人远程控制系统具有借鉴意义.

Research on remote controlled platform design of mechanical arm and time delayed compensation based on network

Along with the thorough study on the uncertainty of time delay in network transmission that made the application of remote control system based on network become possible.By adopting Winsock API and in the Windows system,this paper designed and realized the network based remote control platform that possesses plotting functions in the 2 DOF mechanical arm system.Under the single command circulative environment by means of considering the influence on system synchronism affected by network time delay,the corresponding synchronous compensation algorithm was designed and its effectiveness was verified.The concept of equivalent time delay and thought of time delayed separate compensation and the performance improving scheme of mechanical arm system under different conditions were put forward.The designing train of thought of this platform possesses significance for reference to other remote control system of robot.