| The telerobotic control system on the Internet is a cooperation system of human- machine by using modern network,telecommunication,multimedia and intelligent robotic technology. The system has many characteristics:no needing special operator to remotely controls a special telerobot, quickly setting up a system,low costing, a longer control distance between a operator and a telerobot, controlling the telerobot in any network node, adapting to technology trend of remote management, being propitious to widely apply robotics in fields. Especially in risk and complicated operating environment, the system has particular usage result. For example, in poisonous, contaminative, combustible, and easy bursting danger surroundings, the telerobot is especially fit for substituting for or helping human to do more complicated and risk work, which can largely improve operators work environment, reduce people's casualty accident, and be a new type of robotic application. For the characteristics of network telerobotics control system, these topics are mainly researched and discussed in this dissertation on architectures of the telerobotic control system on the Internet, human-machine interface, information control mechanism of Internet telerobots, intelligent task allocation and collaboration of human-machine system, tracking control of intelligent robot manipulator in complicated environment, control mechanism of robotic autonomy transform based on multi-agents, and realization of telerobotic control system on the Internet about strong poison tank in a chemical plant. In all,this paper has achieved some aspects of research results as follow:(1).Integrated system framework of network telerobot based on the CORBA technology By analyzing and researching the characteristics of client/server system structure, control system framework of task layers, two-layers control system architecture, and remote control system configuration with a larger time delay, a framework is presented of a simple and applied integrated system of network telerobot based on the CORBA technology. (2).Framework of performance evaluation of human-machine interface based on information theory By discussing some important contents about merits of multi-modes interface, latent application trend, existing problems, common methods of modeling(structure mode and action mode),and interface integration based on describing common concept of human-machine interface, centralized multi-agents system mode is analyzed. Finally, a framework is provided of performance evaluation of human-machine interface based on information theory, a measurement algorithm of information consistency. (3). Mechanism of communication control of Internet telerobot control system Through analysis of information transmitting time delay based on the Internet, a mode of system state space is built, and a theory's foundation is provided in order to construct a predictive simulation system, to get a control of no time delay,and to eliminate system instability. According to time delay feature on the Internet, three ways are discussed of controlling information on the Internet: TFO(time-forward observer, JIT(Just in Time),and no predictive JIT. (4) Algorithm design of intelligent task allocation between human and machine and calculation of intelligent value on the human-computer interfaceBy defining concepts of machine intelligence, human intelligence and human-machine interaction intelligence in human-machine system, and after analyzing and researching machine intelligence, modeling in human-machine collaboration system, and intelligent task graph, the methods are provided of algorithm of intelligent allocation between human and machine and calculation of intelligent value on the human-computer interface. Human intelligence, human-machine interaction intelligence, machine intelligence, and other variables derive from ITG logical graph. From the example of supervisory control of telerobot system, the presented measurement process is valida...
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