Research-based Network For The Supple Movement Of The Robot Remote Control System

Aiming at internet-based teleoperating robotic manipulator system ,such problems as system frame model,off-line programming technology,virtual reality technology,compliance motion control and network time delay are studied deeply and systematically in this dissertation.System frame model of internet-based teleoperating robotic manipulator system is established based on TCP/IP protocol and Browser/Server opterating mode,functions of each part of system are designed.Network connection,data package and exchange are implemented using network module of Delphi language.Off-line programming system of internet-based teleoperating robotic manipulator system is established,key technologys such as kinematic,path planning,man-machine interface,realization of network operation are studied.Virtual work scene of internet-based teleoperating robotic manipulator system is established using virtual Reality Modeling Language(VRML),user interface of network operating,animation simulation,view of tele-operating result are implemented.interaction of user and virtual scene are implemented using JAVA language.Position-force hybrid control stragegy is proposed,control system simulation is carried out using tool software of Matlab,simulation results show that above control stragegy process good stability and robustness.Network time-delay model is proposed based on characteristics of network and robotic manipulator system in this dissertation,time-delay in each part of internet-based teleoperating robotic manipulator system are analyzed,and solutions to above problems are proposed.