| 摘要(英) |
For the dangerous working environment, such as overhauling of nuclear power plant or underwater operation, a suitable remote controlled robot system with real-time image monitoring can be adopted to replace the human operator, and to avoid operator damage under such high temperature or high pressure environment. Thus, the main object of this thesis is aimed to develop a PC-based remote-controlled software system, in which the robot control, 3D graphical simulation, computer vision, and communication theories are incorporated.
The research is divided into two stages, according to the used of communication protocol. First, a remote control system based on the RS-232C serial communication is developed, and it has been implemented in the real welding task successfully. However, it still exists some disadvantages caused by the limitation of communication speed and distance.
In order to make the remote operation more effectively, another software system based on the internet TCP/IP protocol is developed in the second stage. Within the stage, the TCP and UDP under TCP/IP protocol are designed to transfer the control commands and image data respectively. In addition, urgent mode of TCP/IP and the traffic management of network communication are also implemented to offer different priority of communication to improve the efficiency. It has been implemented under computer simulation environment, and shown that it is better than the RS-232C based system both in operation and communication speed. |
| 參考文獻 |
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