基于Internet的六自由度机械臂远程控制系统
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摘要
随着Internet和网络通信技术的发展,机器人远程控制技术进一步扩展了应用范围,在远程作业、远程医疗、远程教学和远程监护等方面显示了其优越性。
本文首先阐述了国内外在基于Internet的机器人远程控制系统方面的研究状况,各研究阶段的典型技术手段,基于以上的分析提出了本课题的研究内容。
之后对整个远程控制系统的总体架构进行划分,将其分为通讯协议、机器人控制及视觉反馈三大模块。第三章介绍了网络通信技术,提出了适用于机器人远程控制系统的网络通信技术,利用Winsock技术在基于TCP/IP协议和客户机服务器模式下构建远程控制平台。第四章针对本项目所采用的六自由度机械臂进行了运动学分析,制定的相应的路径规划算法并优化,实现了控制界面的设计以及仿真系统的建立。第五章将双路立体视觉技术应用到远程控制系统中,与仿真系统相结合,使操作者更直观、更精确地进行远程控制。
最后对整个系统进行评估和测试,主要在延迟问题、稳定性及系统的功能方面,通过测试用例,给出了测试结果并加以分析,并探讨了今后的研究方向。
With the development of Internet and network communication technique, the robot remote control system further expands the application range, and shows its superiority in the remote operation, telemedicine, distance education and remote monitoring, etc.
This paper describes the domestic and overseas research status of remote control systems based on Internet, and the typical technical means of every study phase, then raises the research topic based on the above analysis.
The general framework of the remote control system will be divided into three modules, which are communication protocols, robot control and visual feedback. Chapter III describes the network communication technology and presents the network communication technology for robot remote control system, the Winsock technology is used to construct remote control platform based on TCP/IP protocol and client-server mode. Chapter IV analyzes the kinematic of the six degrees of freedom (DOF) manipulator in this project, and the appropriate path planning algorithms is developed and optimized, then the control interface is designed and simulation system is established. Chapter V describes the Dual stereo vision technology for remote control system and simulation system, so that the operator will be more intuitive and more precise on the remote control.
Finally, the system is evaluated and tested mainly in latency, stability and function of the system, the test results are given and analyzed through test cases, then discussed future research directions.
本文首先阐述了国内外在基于Internet的机器人远程控制系统方面的研究状况,各研究阶段的典型技术手段,基于以上的分析提出了本课题的研究内容。
之后对整个远程控制系统的总体架构进行划分,将其分为通讯协议、机器人控制及视觉反馈三大模块。第三章介绍了网络通信技术,提出了适用于机器人远程控制系统的网络通信技术,利用Winsock技术在基于TCP/IP协议和客户机服务器模式下构建远程控制平台。第四章针对本项目所采用的六自由度机械臂进行了运动学分析,制定的相应的路径规划算法并优化,实现了控制界面的设计以及仿真系统的建立。第五章将双路立体视觉技术应用到远程控制系统中,与仿真系统相结合,使操作者更直观、更精确地进行远程控制。
最后对整个系统进行评估和测试,主要在延迟问题、稳定性及系统的功能方面,通过测试用例,给出了测试结果并加以分析,并探讨了今后的研究方向。
With the development of Internet and network communication technique, the robot remote control system further expands the application range, and shows its superiority in the remote operation, telemedicine, distance education and remote monitoring, etc.
This paper describes the domestic and overseas research status of remote control systems based on Internet, and the typical technical means of every study phase, then raises the research topic based on the above analysis.
The general framework of the remote control system will be divided into three modules, which are communication protocols, robot control and visual feedback. Chapter III describes the network communication technology and presents the network communication technology for robot remote control system, the Winsock technology is used to construct remote control platform based on TCP/IP protocol and client-server mode. Chapter IV analyzes the kinematic of the six degrees of freedom (DOF) manipulator in this project, and the appropriate path planning algorithms is developed and optimized, then the control interface is designed and simulation system is established. Chapter V describes the Dual stereo vision technology for remote control system and simulation system, so that the operator will be more intuitive and more precise on the remote control.
Finally, the system is evaluated and tested mainly in latency, stability and function of the system, the test results are given and analyzed through test cases, then discussed future research directions.
引文
[1]蔡自兴,机器人学(第二版),清华大学出版社,2009,2-3。
[2]Andrew S. Tanenbaum著,熊喜贵,王小虎译,计算机网络(第三版),清华大学出版社,2003。
[3]张毅,焦江丽.基于Internet的远程控制机器人系统结构设计.重庆邮电学院学报,2006,2.
[4]张涛,机器人引论,机械工业出版社,2010,137-139。
[5]耿海霞,陈启军,王月娟。基于web的远程控制机器人研究。机器人,Vol.24,2002,6。
[6]Nilsson J B, Bernhardsson B, Wittenmark B. Stochastic analysis and control of real-time systems with random time delays [J]. Proceedings of the 13th World Congress, International Federation of Automatic Control.1997:267-272P
[7]I. Dassonville, D. Jolly. Trust bet3veen man and machine in a teleoperation[J]. Reliability Engineering & System Safety,1996, 53(3):319-325;
[8]Milgram P'Ballantyne J. Real world teleoperation via virtual environment modeling. Proceedings of International Conference on Artificial Reality and Telexistence, Leuven:1997,1-9.
[9]P. Saucy. KhepOnTheWeb:One Year of Access to a Mobile Robot on the Internet [J]. Proc. of 1998 IEEE/RSI Conference on Intelligent Robotics and Automation,1998:23-32;
[10]R Simmons, et al. Lessons Learned from Xavier[J]. IEEE Robotics & Automation magazine,2000:33-39;
[11]P. G Backes, G K Tharp et al. The Web Interface for Telescience (WITS)[J]. Proceedings of the 1997 IEEE International Conference on Robotics and Automation,1997,1:20～25;
[12]任吴星,翁海华等.基于Web的机器人遥操作的研究与实现[J].计算机工程,1999,25(5)：64-65；
[13]庄骏,邱平.大时延环境下的分布式遥操作系统[J].清华大学学报：自然科学版.2000(1)：80.83页
[14]赵明国,赵杰,崔泽,蔡鹤皋.一种基于Internet的遥操作机器人系统——Telerobot[J].哈尔滨工业大学学报,2001,33(1)：8-12；
[15]姚彪,邱白晶.喷雾机器人远程控制系统的设计与试验研究[J].农业化研究,2007,11。
[16]李媛,陈启军。移动机器人远程控制系统的模式研究和实现[J]。同济大学学报(自然科学版),2004,32.
[17]高欣,宋荆洲,孙汉旭.基于虚拟现实技术的自行车漫游系统的研究与实现.电子技术应用,2004,30(9)：30-36
[18]Zhang S Q. Application of super-resolution image reconstruction to digital holography. EURASIP Journal on Applied Signal Processing, 2006,2006(10):1-7.
[19]马新武,赵国群,王广春.用虚拟球实现交互式OpenGL 3D图形的旋转[J].计算机应用,2001,21(8)：169-170
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[21]罗军舟,黎波涛,杨明等,TCP/IP协议及网络编程技术,清华大学出版社,2004,6-8
[22]孙海民精通Windows Sockets网络开发——基于Visual C++实现,人民邮电出版社,2008,1-44
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[24]Wang A H, Wang Q H, Li D H. Three Dimensional Display Technology. Chinese Journal of Electron Devices,2008,32(1):299-301
[25]立体成像研究与报告：http://blog.sina.com.cn/s/blog_5f3ba0930100cqii.html
[26]孙超,苏鸿根.关于Autostereoscopic 3D技术的几点探讨.计算机工程,2007,33(7)：204-206
[27]文江涛,胡跃辉,吕国强.光栅式立体显示器重影问题的研究.液晶与显示,2007,22(3)：310-314
[28]劳国华.光栅立体影像的技术发展.感光科学与光化学,2004,22(1)：44-51
[29]周星,高志军.立体视觉技术的应用于发展.工程图学学报,2010,4：50-55
[30]视频编码百度百科：http://baike.baidu.com/view/746807.htm
[31]H.264编解码百度百科：http://baike.baidu.com/view/1332503.htm
[32]MPEG百度百科：http://baike.baidu.com/view/7689.htm
[33]王一刚.数字视频编解码技术标准的现状分析.信息技术与标准化,2001,7：39-42
[34]张政,马书根,李斌.可重构星球探测机器人的OpenGL仿真实验平台研究[J]. 系统仿真学报,2005,17(4)：885-888
[35]翟雪琴,郝矿荣,曹自洋.基于OpenGL的工业机器人动力学仿真的研究[J].机床与液压,2004,7：14-16
[36]马志强,陈一民,汪地.面向对象的机器人仿真与监控系统[J].计算机工程与设计,2005(1)：75—78
[37]李晓燕,张翔,陈立伟.基于VC 6.0和OpenGL机械手三维仿真演示系统[J].计算机工程与设计,2004,06：982—984
[38]Wang, C., Wang, F., "A System Design for the Testing Platform of Robot Teleoperation with Enhanced Reality Based on Binocular Vision", International Forum on Information Technology and Applications (IFITA'2009), Chengdu, China,15-17 May 2009.
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[40]Wang,, C., Liu, X. P., Wang, F., and Chen, L., "A Depth-dependent Fusion Algorithm for Enhanced Reality based on Binocular Vision", International Conference on Information Engineering (ICIE'2009), Taiyuan, China,10-11 July 2009.
[41]Wang, C., Wang, F., Wang, X., Vergeest, J. S. M., Wigers, T., "A Fuzzy Approach for Vision-based Object Perception in Robot Telecontrol", The Ninth International Conference on Hybrid Intelligent Systems (HIS'2009), Shenyang Liaoning, China, August 12-14th,2009.
[42]Wang, C., Wang, F., Wiegres, T., "On Object Perception in Enhanced Reality Environment for Robot Telecontrol", The 5th International Conference on Natural Computation (ICNC'09) and the 6th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD'09), Tianjin, China,14-16 August 2009.
[43]Wang, C., Zhou, F., Vergeest, J., "Multi-objective Optimization for the Functional Configuration Design of Mobile Devices Using Analytic Hierarchy Process",2nd International Symposium on Intelligent Information Technology and Security Informatics (IITSI'2009), Moscow, Russia,23-25 January 2009
[44]Wang, C., Vergeest, J. S. M., "Identifying Pivot Technologies in Remote Training", The Second IEEE International Symposium on IT in Medicine & Education (ITME2009), Ji'nan, China,14-16, Aug.2009.
[45]Wang, C., Vergeest, J. S. M., Wiegers, T., "On the Stereoscopic Composition of Wide Baseline Stereo Pairs", ASME International Design Engineering Technical Conferences (IDETC'2009), p.30,30 August-2 September 2009, San Diego, USA.
[46]Wang, C., Chen, L., Zhang, C., and Zhang, W., "Learning-based Action Planning for Real-time Robot Telecontrol with Binocular Vision in Enhanced Reality Environment",2009 IEEE International Conference on Robotics and Biometrics (ROBIO'2009), Guilin, Guangxi, China, December 18-22,2009.
[47]Wang, C., Zhou, F., Vergeest, J. S. M., "On the Optimization of Multi-objectives with Unquantifiable Factors", The First World Congress on Global Optimization in Engineering & Science (WCGO'2009), Zhangjiajie, Hunan, China,1-5 June 2009.
[48]王晨升,王飞,“双路视觉的自适应立体影像合成及显示”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[49]王晨升,徐新国,朱廷劭,“基于IEC61131-3的通用工业组态软件系统设计研究”,2009中国自动化大会暨两化融合高峰会议(CAAC2009),杭州,中国,2009年11月1-3日。(另,《控制工程》期刊已收录2010发表)
[50]周飞,王晨升,“基于Canny算法的一种边缘提取的改进算法”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[51]陈亮,王晨升,王伟,“一种基于双路视觉实时立体显示的交互界面设计”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[52]张望鹏,杨光,王晨升,“基于增强现实的模型数据库管理系统设计”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[53]张聪,杨光,王晨升,“基于OpenGL的六自由度机械臂建模及仿真”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[54]刘运周,王飞,王晨升,"The Research on Visual Fatigue Factor in Stereoscopic Image Observation",2009 IEEE 10th International Conference on Computer-aided Industrial Design Conceptual Design (CAID&CD'2009), Wenzhou, CHINA, October 2009.
[55]王超,王晨升,“Web 2.0导航创新设计研究”,2008中国信息技术应用学术研讨会文集,北京,中国,2008.12.16-18.
[56]陈亮,王晨升,“面向三维显示的图形交互界面的研究”,第九届中国人-机-环境系统工程大会论文集,丹东,中国,2009.7.6-10.
[57]王晨升,徐新国,朱廷劭,“基于IEC61131-3的通用工业组态软件系统设计研究”,《控制工程》增刊,2010。
[58]王飞,王晨升,“单视点生成体视图的方法研究”,工程图学学报,中国,2010.
[59]王飞,王晨升,“立体显示技术的原理、体视因素和术语”,工程图学学报,中国,2010.
[60]王飞,王晨升,“观察体视图像时的视觉疲劳及其缓解措施”,工程图学学报,中国,2010.
[61]Wiegers, T., Wang, C., Vergeest, J., "Shape Terms in Different Languages", The 5th International Conference on Natural Computation (ICNC'09) and the 6th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD'09),14-16 August 2009, Tianjin, China.(合作研究)
[2]Andrew S. Tanenbaum著,熊喜贵,王小虎译,计算机网络(第三版),清华大学出版社,2003。
[3]张毅,焦江丽.基于Internet的远程控制机器人系统结构设计.重庆邮电学院学报,2006,2.
[4]张涛,机器人引论,机械工业出版社,2010,137-139。
[5]耿海霞,陈启军,王月娟。基于web的远程控制机器人研究。机器人,Vol.24,2002,6。
[6]Nilsson J B, Bernhardsson B, Wittenmark B. Stochastic analysis and control of real-time systems with random time delays [J]. Proceedings of the 13th World Congress, International Federation of Automatic Control.1997:267-272P
[7]I. Dassonville, D. Jolly. Trust bet3veen man and machine in a teleoperation[J]. Reliability Engineering & System Safety,1996, 53(3):319-325;
[8]Milgram P'Ballantyne J. Real world teleoperation via virtual environment modeling. Proceedings of International Conference on Artificial Reality and Telexistence, Leuven:1997,1-9.
[9]P. Saucy. KhepOnTheWeb:One Year of Access to a Mobile Robot on the Internet [J]. Proc. of 1998 IEEE/RSI Conference on Intelligent Robotics and Automation,1998:23-32;
[10]R Simmons, et al. Lessons Learned from Xavier[J]. IEEE Robotics & Automation magazine,2000:33-39;
[11]P. G Backes, G K Tharp et al. The Web Interface for Telescience (WITS)[J]. Proceedings of the 1997 IEEE International Conference on Robotics and Automation,1997,1:20～25;
[12]任吴星,翁海华等.基于Web的机器人遥操作的研究与实现[J].计算机工程,1999,25(5)：64-65；
[13]庄骏,邱平.大时延环境下的分布式遥操作系统[J].清华大学学报：自然科学版.2000(1)：80.83页
[14]赵明国,赵杰,崔泽,蔡鹤皋.一种基于Internet的遥操作机器人系统——Telerobot[J].哈尔滨工业大学学报,2001,33(1)：8-12；
[15]姚彪,邱白晶.喷雾机器人远程控制系统的设计与试验研究[J].农业化研究,2007,11。
[16]李媛,陈启军。移动机器人远程控制系统的模式研究和实现[J]。同济大学学报(自然科学版),2004,32.
[17]高欣,宋荆洲,孙汉旭.基于虚拟现实技术的自行车漫游系统的研究与实现.电子技术应用,2004,30(9)：30-36
[18]Zhang S Q. Application of super-resolution image reconstruction to digital holography. EURASIP Journal on Applied Signal Processing, 2006,2006(10):1-7.
[19]马新武,赵国群,王广春.用虚拟球实现交互式OpenGL 3D图形的旋转[J].计算机应用,2001,21(8)：169-170
[20]Laura A. Chappell Ed Tittel著,张长富等译,TCP/IP协议原理与应用(第三版),清华大学出版社,2009,7-12。
[21]罗军舟,黎波涛,杨明等,TCP/IP协议及网络编程技术,清华大学出版社,2004,6-8
[22]孙海民精通Windows Sockets网络开发——基于Visual C++实现,人民邮电出版社,2008,1-44
[23]董磊,杨福桂,常宏.立体现实技术的研究进展.光学与光电技术.2010,8(2)：88-92
[24]Wang A H, Wang Q H, Li D H. Three Dimensional Display Technology. Chinese Journal of Electron Devices,2008,32(1):299-301
[25]立体成像研究与报告：http://blog.sina.com.cn/s/blog_5f3ba0930100cqii.html
[26]孙超,苏鸿根.关于Autostereoscopic 3D技术的几点探讨.计算机工程,2007,33(7)：204-206
[27]文江涛,胡跃辉,吕国强.光栅式立体显示器重影问题的研究.液晶与显示,2007,22(3)：310-314
[28]劳国华.光栅立体影像的技术发展.感光科学与光化学,2004,22(1)：44-51
[29]周星,高志军.立体视觉技术的应用于发展.工程图学学报,2010,4：50-55
[30]视频编码百度百科：http://baike.baidu.com/view/746807.htm
[31]H.264编解码百度百科：http://baike.baidu.com/view/1332503.htm
[32]MPEG百度百科：http://baike.baidu.com/view/7689.htm
[33]王一刚.数字视频编解码技术标准的现状分析.信息技术与标准化,2001,7：39-42
[34]张政,马书根,李斌.可重构星球探测机器人的OpenGL仿真实验平台研究[J]. 系统仿真学报,2005,17(4)：885-888
[35]翟雪琴,郝矿荣,曹自洋.基于OpenGL的工业机器人动力学仿真的研究[J].机床与液压,2004,7：14-16
[36]马志强,陈一民,汪地.面向对象的机器人仿真与监控系统[J].计算机工程与设计,2005(1)：75—78
[37]李晓燕,张翔,陈立伟.基于VC 6.0和OpenGL机械手三维仿真演示系统[J].计算机工程与设计,2004,06：982—984
[38]Wang, C., Wang, F., "A System Design for the Testing Platform of Robot Teleoperation with Enhanced Reality Based on Binocular Vision", International Forum on Information Technology and Applications (IFITA'2009), Chengdu, China,15-17 May 2009.
[39]Wang, C., Wang, F., "A Knowledge-based Strategy for Object Recognition and Reconstruction", International Conference on Information Technology and Computer Science (ITCS'2009), Kiev, Ukraine,25-26 July 2009.
[40]Wang,, C., Liu, X. P., Wang, F., and Chen, L., "A Depth-dependent Fusion Algorithm for Enhanced Reality based on Binocular Vision", International Conference on Information Engineering (ICIE'2009), Taiyuan, China,10-11 July 2009.
[41]Wang, C., Wang, F., Wang, X., Vergeest, J. S. M., Wigers, T., "A Fuzzy Approach for Vision-based Object Perception in Robot Telecontrol", The Ninth International Conference on Hybrid Intelligent Systems (HIS'2009), Shenyang Liaoning, China, August 12-14th,2009.
[42]Wang, C., Wang, F., Wiegres, T., "On Object Perception in Enhanced Reality Environment for Robot Telecontrol", The 5th International Conference on Natural Computation (ICNC'09) and the 6th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD'09), Tianjin, China,14-16 August 2009.
[43]Wang, C., Zhou, F., Vergeest, J., "Multi-objective Optimization for the Functional Configuration Design of Mobile Devices Using Analytic Hierarchy Process",2nd International Symposium on Intelligent Information Technology and Security Informatics (IITSI'2009), Moscow, Russia,23-25 January 2009
[44]Wang, C., Vergeest, J. S. M., "Identifying Pivot Technologies in Remote Training", The Second IEEE International Symposium on IT in Medicine & Education (ITME2009), Ji'nan, China,14-16, Aug.2009.
[45]Wang, C., Vergeest, J. S. M., Wiegers, T., "On the Stereoscopic Composition of Wide Baseline Stereo Pairs", ASME International Design Engineering Technical Conferences (IDETC'2009), p.30,30 August-2 September 2009, San Diego, USA.
[46]Wang, C., Chen, L., Zhang, C., and Zhang, W., "Learning-based Action Planning for Real-time Robot Telecontrol with Binocular Vision in Enhanced Reality Environment",2009 IEEE International Conference on Robotics and Biometrics (ROBIO'2009), Guilin, Guangxi, China, December 18-22,2009.
[47]Wang, C., Zhou, F., Vergeest, J. S. M., "On the Optimization of Multi-objectives with Unquantifiable Factors", The First World Congress on Global Optimization in Engineering & Science (WCGO'2009), Zhangjiajie, Hunan, China,1-5 June 2009.
[48]王晨升,王飞,“双路视觉的自适应立体影像合成及显示”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[49]王晨升,徐新国,朱廷劭,“基于IEC61131-3的通用工业组态软件系统设计研究”,2009中国自动化大会暨两化融合高峰会议(CAAC2009),杭州,中国,2009年11月1-3日。(另,《控制工程》期刊已收录2010发表)
[50]周飞,王晨升,“基于Canny算法的一种边缘提取的改进算法”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[51]陈亮,王晨升,王伟,“一种基于双路视觉实时立体显示的交互界面设计”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[52]张望鹏,杨光,王晨升,“基于增强现实的模型数据库管理系统设计”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[53]张聪,杨光,王晨升,“基于OpenGL的六自由度机械臂建模及仿真”,第四届图像图形技术与应用学术会议(IGTA'2009),北京,中国,2009年4月2日。
[54]刘运周,王飞,王晨升,"The Research on Visual Fatigue Factor in Stereoscopic Image Observation",2009 IEEE 10th International Conference on Computer-aided Industrial Design Conceptual Design (CAID&CD'2009), Wenzhou, CHINA, October 2009.
[55]王超,王晨升,“Web 2.0导航创新设计研究”,2008中国信息技术应用学术研讨会文集,北京,中国,2008.12.16-18.
[56]陈亮,王晨升,“面向三维显示的图形交互界面的研究”,第九届中国人-机-环境系统工程大会论文集,丹东,中国,2009.7.6-10.
[57]王晨升,徐新国,朱廷劭,“基于IEC61131-3的通用工业组态软件系统设计研究”,《控制工程》增刊,2010。
[58]王飞,王晨升,“单视点生成体视图的方法研究”,工程图学学报,中国,2010.
[59]王飞,王晨升,“立体显示技术的原理、体视因素和术语”,工程图学学报,中国,2010.
[60]王飞,王晨升,“观察体视图像时的视觉疲劳及其缓解措施”,工程图学学报,中国,2010.
[61]Wiegers, T., Wang, C., Vergeest, J., "Shape Terms in Different Languages", The 5th International Conference on Natural Computation (ICNC'09) and the 6th International Conference on Fuzzy Systems and Knowledge Discovery (FSKD'09),14-16 August 2009, Tianjin, China.(合作研究)