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分布式机器人控制器体系结构的研究 预览 被引量:10

Research on distributed architecture of robot controller
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摘要 本文提出了一种分布式机器人控制器的体系结构,采用以太网作为系统总线,统一的通信协议实现了从Internet 到设备底层的无缝连接.控制器采用面向对象技术以及模块化的设计方法,并对软件组件进行CORBA规范封装.所设计的机器人控制器不仅可以实现本地的示教再现和离线编程操作,还可以通过网络实现对机器人的远程控制. A kind of distributed architecture of robot controller is proposed, which uses Ethernet as system bus. The controller can communicate seamlessly ranging from Internet to the bottom of equipment with uniform communication protocol. The controller is constructed based upon object oriented and modular method and its software components are encapsulated based on common object request broker achitecture (CORBA) criterion. The robot controller can be teleoperated through network besides local manipulation.
作者 吴向阳 戴先中 孟正大 Wu Xiangyang Dai Xianzhong Meng Zhengda (Department of Automation Control Engineering, Southeast University, Nanjing 210096, China)
出处 《东南大学学报:自然科学版》 EI CAS CSCD 北大核心 2003年第z1期 200-204,共5页 Journal of Southeast University(Natural Science Edition)
基金 江苏省"十五"攻关资助项目(BE2001031).
关键词 机器人控制器 分布式控制 以太网 robot controller distributed control Ethernet
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