VI lit UHJIJ5 giciiii o<ai yụ dieu khien robot qua mang bao gom robot thong
b) Mot chuoi hinh anh cua robot trong qua trinh dieu khien
su dung CORBA, nhieu thuc nghiem da dugc chung toi tien hanh tai tang 3 toa nha G2 thugc KJioa Dien tu - Vien thong, truang Dai hgc Cong nghe, Dai hgc Qu6c gia Ha Ngi a cac thai diem khac nhau, trong nhung dieu kien khac nhau va vdi nhieu tinh huong gia djuh co the xay rạ
Trong cac thuc nghiem, bang viee su dung giao dien GUI da thiet ke, nguai dung, a vi tri each xa 15km, da dieu khien thanh cong robot di chuyen tu diem xuat phat Oo den diem dich Od qua mang Internet (Hinh 5a). Hinh 5b trinh bay mot chuoi hinh anh cua robot dugc ghi lai trong qua trinh dieu khien tren.
5. Ket luan
Trong de tai nay, chung toi da xay dung thanh cong mot he th6ng cho phep dieu khien robot qua mang Internet ma khong can phai quan tam cac doi tugng dieu kJii^n dugc cai dat a dau, bang ngon ngú lap trinh gi va tren he di^u hanh naọ Dieu nay giup khac phuc nhugc di§m cua da s6 he thong dieu khien robot qua mang may Internet hien nay thuang chi tuang thich vai mot nen tang ngon ngú nh^t dinh. Nhi8u phep thuc nghiem dugc ti^n hanh da chung minh tinh klia thi va thanh cong ciia he thdng trong bai toan di^u khien robot noi rieng va cac he th6ng thai gian thuc noi chung qua mang may tinh.
Hinh 5. Ket qua thuc nghiem he thong dieu khien robot qua mang may tinh:
a) Duong di cua robot trong qua trinh dieu khien lir diem dau den diem dich diem dau den diem dich
b) Mot chuoi hinh anh cua robot trong qua trinh dieu khien khien
Cong trinh dugc su tai trg cua de tai nghien cuu cap Dai hgc Quoc gia do truang quan !y QC.09.1 8.
Die kien IrOc lrLl^^n ihoni: C'ORH.A
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