【作者】 刘丰艺；

【导师】 王全玉；

【作者基本信息】 北京理工大学 ， 计算机科学与技术， 2011， 硕士

【摘要】 机器人遥操作技术是一门比较热门的机器人研究方向,机器人遥操作技术在科学研究领域以及工业工程领域有着非常广泛的应用。现有的遥操作系统,操作者和机器人都是特定的,普通的用户不能有好的机器人操作体验。机器人只供特定的系统使用,当操作者不使用时,机器人处于闲置状态,资源不能够有效地利用。同时,目前的遥操作系统并没有好的扩展性,机器人不能随时随地的加入到系统中。云计算是当前互联网行业一个新兴的概念,云计算平台具有较高的资源共享能力、可扩展、按需分配、虚拟化等特点使得其被应用在很多领域。本课题中,研究将云计算思想应用在机器人遥操作系统中。本平台中,提供的机器人服务有三种类型,机器人遥操作服务、机器人音视频监控服务,机器人传感器监控服务。机器人遥操作中采用XMPP协议连接服务器,通过XML格式传输遥操作数据控制机器人运动。机器人音视频监控服务,操作者与机器人通过RTMFP协议建立P2P形式的连接,机器人端音视频数据直接发送给操作者,使操作者直观的查看机器人运动状态。机器人传感器监控服务则是向操作者反馈机器人传感器信息。本平台中,通过机器人模型模拟实际机器人的运动,采集模型机器人关节数据来代表实际机器人运动数据反馈给操作者,数据以图表的形式显示,使操作者可以直观的分析机器人运动状况。本课题搭建的机器人云操作平台完成了预期目标。更多还原

【Abstract】 Robot teleoperation technology is a relatively popular technology to research. Recently, Teleoperation technology of Robot has a very wide range application in the field of scientific research and industrial engineering. The remote control system for a particular application, the operator and robot are specific. Ordinary users can not have a good robot opterate-experience. Robot can not be used effectively. Meanwhile, the current remote control systems have bad scalability; robots can not be added to the systems anytime and anywhere. Cloud computing is a new concept of the Internet industry. With the features of high resource sharing capabilities, scalable, ondemand and virtualization, cloud computing has be applied in many fields.In this paper, the idea of cloud computing be applied in robot teleoperation system. In this platform, there are three types of services: Teleoperation service, audio and video services, and sensor monitoring services. XMPP protocol is for client to connect to the server. With the XML-fromatted, Robot teleoperation data is transfer to control romote robot. For audio and video monitoring services, the connection is established by RTMFP, and the type of connection is Peer-to-Peer. Robot sensor monitoring service is to feedback the information of robot sensors to the operator. In this platform, robot model is established to simulate the real robot. The data which is feedback to the operator is collected from the robot model to represent the real robot. Data is shown in graphical form, so that the operator can analyze the movement of the robot.更多还原