Research And Realization Of The Motion Robot System Based On Network

There are extensive demands and applications of mobile robots in many fields, such asindustry, agriculture, science and technology, military affairs, service, and so on. With thedevelopment of Interact and network technology, telecontrol technology of robot systems basedon network has become a new research focus of robot field, which shows great value andchallenges in both application and theory. Due to the free accessibility of the Internet, all kindsof equipments, instruments and machines can be connected with each other and thus beconstructed into a new system of higher efficiency and stronger function. However, theutilization of network brings some difficulties, such as random time-delay of network, packetdropout, and asynchrony, etc, to the realization of these systems.This paper takes the mobile robot U-Ⅱas a research object. On the basis of analyzing andmodeling the structure, motion, and orientation of the robot, Model Predictive Control (MPC) isintroduced into the mobile robot system based on network, and generates further predictedcontrol signals and compensates feedback time-delay to decrease its effect on performance of thecontrol system, so that the system is able to tolerate random time-delay of network to a certainextent. The result of simulation shows that the control method has a better effectiveness on theroute tracking of the mobile robot.In the aspect of the realization of the system, a mobile robot system based on network,which includes a mobile robot, remote client computer, Web server, application server, dataserver, image server, and control server, is finished through design of hardware and software.Users can visit, telecontrol and monitor the mobile robot via long distance client computer. Inaddition, a service mechanism of supporting multi-user is also designed and implemented, inorder to provide users multi-service such as telecontrol, robot motion images transmission, robotmotion states feedback and so on.