| Telerobot is a significant robot scheme that was put forward after robots that can eventually operate autonomously and eliminate the need for human operators had been researched for many years and proved of having a lot of throwbacks. This thesis is parts of national 863 project"The research on telerobot intelligent control technology and hand controller"and national 973 project"The research on haptic virtual reality", mainly introduces a interactive telerobot experiment flat which make up of dataglove with force-feedback, HC01 hand controller, Motoman robot and internet, on base of which some research work has been developed.Firstly, the inland and overseas research status were introduced, the problems about telerobot were analyzed; as was known that the influence on performance of telerobot system is time delay caused in signal transmitting process, some methods to eliminate it were summarized. By analyzing these methods, a novel method which may resolve the influence of large time delay on telerobot was put forward, and it is integration of virtual reality technology, telepresence technology and interactive technology. The telerobot can work in an available mode for a special task. At present the dataglove is usually one of the human-mechanism interactive devices, but few has the function of force feedback. A few existing force-feedback datagloves were analyzed, and it was found that their performance was not ideal. Therefore, a force-feedback dataglove based on Electro-rheological fluids (ERFs) had been developed. The force-feedback device based on ERFs was attached to the 18-sensor dataglove made by Immersion Corporation in American. The ERFs are made from suspensions of an insulating base fluid and particles on the order of one tenth to one hundred microns in size. In the presence of an electric field, its performance will change greatly. This induced structure changes the ERF's viscosity, yield stress, and other properties, allowing the ERF to change consistency from that of a liquid to something that is viscoelastic, such as a gel, with response times to changes in electric fields on the order of milliseconds. The stresses become the source of force in the force-feedback dataglove.In succession, three sets of telerobot experiment flat based on internet were described. The first belongs to national 863 projects; master-slave telerobot control system beased on internet was made with HC01 hand controller as master device and Motoman-SV3X robot as slave device. The second was part of national 973 project, with the research result——force-feedback dataglove instead of HC01 hand controller in the first project, space position was measured by"Flock Bird"which is a three-dimensional 6-DOF tracer. Considering there was not arm force-feedback in second scheme and the tracer based on magnetic field easily influenced by electromagnetic disturb the third project was put forward, integrating HC01 hand controller and force-feedback dataglove into master device so that there was arm force display by hand controller.After telerobot experiment flat was successfully set up, some researches were developed...
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