A New Control Architecture for Internet Based Tele-Robot System Using Server Push Technique
基于Server Push技术的机器人远程控制方法研究

A new control architecture for Internet based tele-robot system was pro-posed. With the introduction of Server Push technique, real time on-line data acquisition and fast control signal response, which enable this new architecture suitable for online real time tele-operation, can be achieved by using hyper-text transfer protocol. A 6DOF PUMA robot tele-operation system has been developed using this architecture and the experimental results illustrate that the performance of the tele-manipulation system had been greatly improved compared with that of the traditional control system using CGI and HTTP Server. The architecture is also open-structured and can be applied in other general purposed tele-operation systems.