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首页> 外文会议>International Conference on Fluid Power Transmission and Control(ICFP' 2005); 20050405-08; Hangzhou(CN) >Study of Web-Based Tele-Operation of Pneumatic Manipulator
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Study of Web-Based Tele-Operation of Pneumatic Manipulator

机译：基于Web的气动机械手遥操作研究。

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摘要

Pneumatic driven system is widely used in industrial automation mainly for relatively simply tasks with open-loop control. Because of the compressibility and less stop position, it is considered hard to control in a precise motion control system. With the help of newly developed pneumatic servo control technology, using servo-pneumatic positioning controller now is just as easy as using electro-servo system. This article discusses web-based servo-pneumatic manipulator control, machine vision-based object recognition and positioning, and java JMF-based video transmission. Authors had built a three-degree-of-freedom pneumatic manipulator with a servo-pneumatic closed-loop control system and machine vision system in the Lab. The Web-based Tele-operation was a basic ability in this experimental system. With CCD camera, video capture card, and related software developed by authors, robot could recognize the user specified object through web page and find its position. The client user could command the robot to move to the position and to grab the object, and realizes the real time movements' video transmission. The critical issues of Web-based control are to integrate hybrid open-architecture mechatronic system with java language. Experiments showed that pneumatic devices could be used as accurate position control and could be controlled through web.
机译：气动驱动系统广泛用于工业自动化中，主要用于带有开环控制的相对简单的任务。由于可压缩性和较少的停止位置，因此很难在精确的运动控制系统中进行控制。借助最新开发的气动伺服控制技术，现在使用伺服气动定位控制器就像使用伺服系统一样容易。本文讨论了基于Web的伺服气动机械手控制，基于机器视觉的对象识别和定位以及基于Java JMF的视频传输。作者已经在实验室中构建了带有伺服气动闭环控制系统和机器视觉系统的三自由度气动机械手。基于Web的远程操作是该实验系统的基本功能。借助作者开发的CCD摄像机，视频采集卡和相关软件，机器人可以通过网页识别用户指定的对象并找到其位置。客户用户可以命令机器人移动到该位置并抓住物体，并实现实时运动的视频传输。基于Web的控制的关键问题是将混合开放式机电一体化系统与Java语言集成在一起。实验表明，气动装置可以用作精确的位置控制，并且可以通过卷筒纸进行控制。

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