Abstract: In order to use the Internet to complete the real-time control of remote equipment, this paper puts forward a tele-robotic system based on the embedded technology and tele-operation, which uses the S3C2410 as robot server, the reformative Linux as real-time operating system. It realizes bilateral communication between control command and feedback data of the master-slave robot, and enhances the performance of stability. The simulation experimental results demonstrate that the system is accurate and available.

Key words: tele-operation, ARM core processor, Linux real-time operating system

摘要： 针对机器人遥操作控制系统，以嵌入式技术和遥操作为基础，利用Internet实现对远程设备的实时控制，提出一种以嵌入式处理器S3C2410作为机器人服务器、改进型Linux为实时操作系统的嵌入式网络通信系统。该体系结构有效提高了网络化控制系统对实时性的要求，实现机器人控制命令和反馈数据在局域网上的双向传输，完成主从式机器人的网络遥操作。仿真实验结果表明该系统是准确可行的。

关键词: 遥操作, ARM核处理器, Linux实时操作系统

CLC Number: 

• TP273