SIA OpenIR  > 工业控制网络与系统研究室
Alternative TitleDesign and research of a wireless network robot teaching system
蔡钧宇; 王金涛; 郭海冰
Source Publication计算机应用
Contribution Rank1
Funding Organization工信部基金资助项目(111050)
Keyword重传算法 延迟预估器 Tcp/ip协议簇 无线网络
Other AbstractFocused on the issue that robot teaching box can not safely control robot in the case of instability of wireless network, a robot control algorithm based on the combination of the robot delay predictor and TCP double retransmission algorithm was proposed. On the one hand, according to the characteristics of the industrial robot, a basic framework of robot delay predictor was put forward. Under the framework of the model, the influence factors could be appropriately added or removed according to the actual robot working scene, and the parameters could be adjusted by repeated experiments. On the other hand, since the robot must respond quickly to the request of stop, an independent retransmission algorithm was designed for the stop command, mainly to adjust its retransmission. Experimental results show that, in the case of high bit error rate of wireless network link, through the combination of robot delay predictor and TCP double retransmission algorithm, the robot can still run safely and stably in the case of variable time delay.
Document Type期刊论文
Corresponding Author蔡钧宇
Recommended Citation
GB/T 7714
蔡钧宇,王金涛,郭海冰. 一种无线网络的机器人示教系统的设计与研究[J]. 计算机应用,2016,36(S2):29-32.
APA 蔡钧宇,王金涛,&郭海冰.(2016).一种无线网络的机器人示教系统的设计与研究.计算机应用,36(S2),29-32.
MLA 蔡钧宇,et al."一种无线网络的机器人示教系统的设计与研究".计算机应用 36.S2(2016):29-32.
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