Research Of Critical Technologies Of Teleoperation Robot System Based On Internet

With the exploration of space and deep sea and so on, teleoperation research becomes more important than ever before. With the progress of building network acceleration and new technology, with the help of convenience of internet, the research of robot teleoperation is getting much more essential. Meanwhile, kinds of teleoperaton robotics have been used in many area like working in deep sea, tele-medicine and so on. Anymore, with the application requirement increment of the internet-based teleoperation, such as space exploration, hazardous environment working, researches, entertainment and education. Based on the research harvest of current teleoperatoin technique, mainly key technologies are discussed, such as bilateral, internet properties and image compress and transportation.Facing problems led by the internet network, such as time-delay, data safety, the research of internet-based teleoperation is a challenged one because of the network latency, and the operation ability of bilateral teleoperation is affected, even to the system stability. Thus a new optimization of event-based control model is presented for the time-delay problem, considering the defect of waiting in the traditional event-based teleoperation, the paper presents the simulated force to feedback to the teleoperator directly and the buffer sequence mechanism is accepted at telerobot side, and the command execution in sequence event is ensured.To the great of large data problem of robotic graphics, a new technique of partition coding and transportation for the robot object is presented, which using projection method and kinematical principle to implement the quickly partition and coding of the robot object. In the application using multi-cameras, a parallel dealing and transportation method is discussed, which leading to rich graphics information and more angles to control the robot. Anymore, the teleoperator can control the remote robot by dotting the mouse in the screen graphic to teleoperate the remote robot or manipulator, which is accurate and easy to use.In the end, more works have been done for the teleoperation system design ,including implementing the useful teleoperation system, building up the platform of the teleoperation system, the simulation platform and corresponding tests. Software for WEB server, robot server and the client interface are implemented too.