A Study Of Robot Remote Control And Monitoring System

The remote controlled robot-human interfacing techniques have been studied on this thesis. The author applied the virtual reality techniques into the robot remote control. The status of the robot was monitored and controlled by graphic simulation and real-time video and force feedback. Remote teaching, operation, programming and diagnostics on a robot at a remote location were performed via mouse, keyboard, force feedback controller and 3-D mouse. The primary objectives of this thesis are:l)Study robot remote control mechanisms on the platform. Solve problems in some key technologies, including remote monitoring, graphic simulation, video monitoring, 3-D interaction, collision detection and stereographic display technologies;2)Propose a new structure for robot controlling system to compensate the shortcoming of the current robot controller;3)Build a robot remote control platform for future research and development in robot remote control, multiple unit coordination and robot intelligent control.The accomplishment works can be summarized as following:1.A real-time data acquisition and transferring mechanism has been established according to the characteristics of the communication in Internet environment. A network-based dynamic time-delay measuring strategy is proposed to solve the time-delay problem in network data transfer. The robot remote monitoring under this time-delayed condition is achieved by adopting an algorithm combining the dynamic time-delay measurement and robot trace prediction.2.Using Directshow as video developing platform a video transfer system was developed to perform the whole process of video data transferring, including acquisition, sending, receiving, and replay. In real time. Special attention was given to the data array packaging, transmission, lost package recovering and data flow control. These assured the real-time transmission in LAN, for which the time delay of video transfer was controlled below 0.1s.3.In robot modeling, a kinetic model for robot and geometric model for the robot and the scene were established in the OpenGL environment. A new method of Center Point Movement was proposed to denote the robot motion, in accordance with the characteristics of kinetic graphic simulation and robotic motion. Based on the OpenGL expression of geometric model, a VRML 1.0 interface routine was generated. As a result, precise robot geometric model is constructed using professional 3-D CAD software UG NX, and Solidworks and exported to standard VRML 1.0 freely and other kinetic parameters are acquired directly from these CAD systems.4. Collision Detection was also studied. The interface between collision detection program and...