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Ç¥ÁعøÈ£ [ÆóÁö] TTAS.KO-10.0200 ±¸Ç¥ÁعøÈ£
Á¦°³Á¤ÀÏ 2005-12-21 ÃÑÆäÀÌÁö 23
ÇѱÛÇ¥Áظí URC Ŭ¶óÀ̾ðÆ®/¼­¹ö ±â¹Ý À̵¿·Îº¿À» À§ÇÑ °´Ã¼ Á¤º¸ Åë½Å ÇÁ·ÎÅäÄÝ
¿µ¹®Ç¥Áظí Transport Protocol of Object Information for Mobile Robot based on URC Client- Server
Çѱ۳»¿ë¿ä¾à ÁÖ¿ä ³»¿ëÀ¸·Î´Â ¼­¹ö¿Í À̵¿ ·Îº¿(Ŭ¶óÀ̾ðÆ®)»çÀÌ¿¡ °´Ã¼ Á¶ÀÛ¿¡ °üÇÑ Á¤º¸¸¦ ¼Û¼ö½Å ÇÒ ¼ö ÀÖµµ·Ï Çϱâ À§ÇÏ¿© ¼³°èµÈ TCP-IP ±â¹Ý Åë½Å ÇÁ·ÎÅäÄÝÀÌ´Ù. °´Ã¼ Á¶ÀÛÀ» À§ÇÑ Åë½ÅÀÇ ÁÖ¿ä ±â´ÉÀº »õ·Î¿î °´Ã¼(Object) Á¤º¸ ¼­¹ö¿¡ ÀúÀå °úÁ¤, °´Ã¼ ÀÎ½Ä ¹× Á¶ÀÛÀ» À§ÇÑ °´Ã¼ Á¤º¸ ¿äû/¼ö¶ô °úÁ¤À¸·Î º¼ ¼ö ÀÖ´Ù.
º» ÇÁ·ÎÅäÄÝÀÇ ¸ðµç ¸Þ½ÃÁö´Â °øÅë Çì´õ(Common Header)¸¦ °¡Áö¸ç, ¸Þ½ÃÁöÀÇ Æ¯¼º¿¡ µû¶ó °¢°¢ÀÇ Handler¸¦ ÀÌ¿ëÇÏ¿© ÃÖÁ¾ ¸Þ½ÃÁö¸¦ ¸¸µç´Ù. ƯÈ÷, Object Handler´Â Á¶ÀÛÀÚ(Manipulator)¸¦ ÀÌ¿ëÇÑ Á¶ÀÛ¿¡ ÇÊ¿äÇÑ ¸ðµç Á¤º¸¸¦ °¡Áö°íÀÖ´Ù.
¿µ¹®³»¿ë¿ä¾à The main contents are TCP/IP-based communication protocols designed to transmit and receive information on object manipulation between servers and robots (clients). The major functions of communication for object manipulation are the process of storing new object information to servers and the process of object information request/acceptance for recognizing and manipulating objects.
All messages of the protocols have a common header. In general, final messages are generated with a header according to the characteristics of messages. In particular, object handlers have all information that is necessary for manipulation using manipulators.
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